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Modeling of Digital Twin Workshop Based on Perception Data Read chapter Read first chapter

2017 | OriginalPaper | Chapter

An Iterative Calculation Method for Solve the Inverse Kinematics of a 7-DOF Robot with Link Offset

Authors : Shaotian Lu, Yikun Gu, Jingdong Zhao, Li Jiang

Published in: Intelligent Robotics and Applications

Publisher: Springer International Publishing

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Abstract

This paper presents an inverse kinematics solution method for a 7-degrees-of-freedom (DOF) redundant robot with offset shoulder and wrist joints. Aiming at the plan-points of the 7-DOF redundant robot, we propose an iterative method to solve the inverse kinematics for a specific application scenario, that is, the orientation matrices and arm angle keep the same values during the movement of robot which can be found in some specific operations, like painting on a plane. The position, orientation and arm angle of current plan-point are used to calculate the corresponding values of next plan-point. Through iterative calculation, the inverse kinematics solutions can be obtained with the characteristic that the orientation matrices and arm angle maintain the same values for all plan-points. The comparison and analytical results show this iterative solving method is effective.

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previous chapter Trajectory Planning of Space Robot System for Reorientation After Capturing Target Based on Particle Swarm Optimization Algorithm
next chapter Kinematic Nonlinear Control of Aerial Mobile Manipulators
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Metadata
Title
An Iterative Calculation Method for Solve the Inverse Kinematics of a 7-DOF Robot with Link Offset
Authors
Shaotian Lu
Yikun Gu
Jingdong Zhao
Li Jiang
Copyright Year
2017
Book
Intelligent Robotics and Applications

Print ISBN: 978-3-319-65297-9

Electronic ISBN: 978-3-319-65298-6

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-65298-6_65

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