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Experimental Study on the Forming Limit Curve of SECC Sheet Material Read chapter Read first chapter

2024 | OriginalPaper | Chapter

Kinematics Analysis of 7-DOF Collaborative Robotic Manipulators with Offsets at Shoulder and Wrist

Authors : Nguyen Quang Hoang, Do Tran Thang, Dinh Van Phong, Thai Phuong Thao

Published in: Proceedings of the 3rd Annual International Conference on Material, Machines and Methods for Sustainable Development (MMMS2022)

Publisher: Springer Nature Switzerland

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Abstract

In this paper, the inverse kinematics of a 7-DOF redundant manipulator with offsets at shoulder and wrist is presented based on the Jacobian matrix. Three Euler angles of roll-pitch-yaw are used for parameterization of the orientation of the end-effector. Then the linear relationship between joint velocities and Cartesian velocity is given for the inverse kinematic problem at velocity level. The null space of the Jacobian matrix is also used to exploit the advantages of the redundancy of the manipulator. The effectiveness of the proposed approach is verified by some numerical simulations.

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previous chapter Systematic Design of a Sitting-Type Lower Limb Rehabilitation Robot for Stroke Patient
next chapter Accumulation of Permanent Deflection of Steel Plates Subjected to Repeated Slamming Impact Loadings
Literature
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J.J. Craig, Introduction to Robotics: Mechanics and Control (Pearson/Prentice Hall, 2005)
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J. Wang, Y. Li, X. Zhao, Inverse kinematics and control of a 7-DOF redundant manipulator based on the closed-loop algorithm. Int. J. Adv. Robot. Syst. 7(4) (2010)
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B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Robotics: Modelling, Planning and Control (Springer Science & Business Media, 2010)
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M.W. Spong, S. Hutchinson, M. Vidyasagar, Robot Modeling and Control (John Wiley & Sons, New York, 2006)
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J. Holland, Adaptation in Natural and Artificial Systems (MIT Press, Cambridge, MA, 1992)CrossRef
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David A Coley (1997): An Introduction to Genetic Algorithms for Scientists and Engineers, World Scientific Publishing Co. Pte. Ltd.
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Metadata
Title
Kinematics Analysis of 7-DOF Collaborative Robotic Manipulators with Offsets at Shoulder and Wrist
Authors
Nguyen Quang Hoang
Do Tran Thang
Dinh Van Phong
Thai Phuong Thao
Copyright Year
2024
Book
Proceedings of the 3rd Annual International Conference on Material, Machines and Methods for Sustainable Development (MMMS2022)

Print ISBN: 978-3-031-57459-7

Electronic ISBN: 978-3-031-57460-3

Copyright Year: 2024

DOI
https://doi.org/10.1007/978-3-031-57460-3_27