Joint Limit Optimal Inverse Kinematics of the 7-DoF Manipulator with Link Offset based on Semi-analytical Solution
- Resource Type
- Conference
- Authors
- Zhang, Yaowen; Liu, Yechao; Cao, Baoshi; Liu, Yang; Ma, Boyu; Xie, Zongwu
- Source
- 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO) Robotics and Biomimetics (ROBIO), 2021 IEEE International Conference on. :483-489 Dec, 2021
- Subject
- Bioengineering
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Robotics and Control Systems
Signal Processing and Analysis
Jacobian matrices
Simulation
Conferences
Kinematics
Manipulators
Search problems
Orbits
- Language
The 7-DoF redundant manipulator with offset links and symmetrical structure is applied in the space station. The analytical solution of the inverse kinematics(IK) is difficult when considering the joint limits. This study proposes a joint limit optimal IK solution based on the optimization of the fixed joint angle parameters. The analytical method of fixed joint inverse solution is combined with the numerical method of joint limit optimization. This semi-analytical method converges to a definite solution with a closed form and have symmetry to avoid the non-conservative of the pseudo-inverse solution. Simulation results verify the effectiveness of the IK algorithm.