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7-dof manipulator

Robotica (1)

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1 results

A Closed-Loop Framework for the Inverse Kinematics of the 7 Degrees of Freedom Manipulator
Guoli Song, Shun Su, Yingli Li, Xingang Zhao, Huibin Du, Jianda Han, Yiwen Zhao
Journal:

Robotica / Volume 39 / Issue 4 / April 2021

Published online by Cambridge University Press:

13 August 2020, pp. 572-581
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The 7 degrees of freedom (DOF) redundant manipulator greatly improves obstacle/singularity avoidance capability and operational flexibility. However, the inverse kinematics problem of this manipulator is very difficult to solve because it has an infinite number of solutions. This paper uses a new numerical sequence processing method with a closed-loop framework to solve the inverse kinematics of the 7-DOF redundant manipulator. Simulation and experiment show that this method has high commonality. No special structure of the robot is required, and this method has improved computational efficiency and reliability.