Open AccessAn Analytical Solution for a Redundant Manipulator with Seven Degrees of Freedom
Author(s) -
Takashi Nammoto,
Kazuhiro Kosuge
Publication year - 2012
Publication title -
international journal of automation and smart technology
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.148
H-Index - 10
ISSN - 2223-9766
DOI - 10.5875/ausmt.v2i4.172
Subject(s) - kinematics , degrees of freedom (physics and chemistry) , inverse kinematics , offset (computer science) , manipulator (device) , rotation (mathematics) , gravitational singularity , control theory (sociology) , parallel manipulator , computer science , mathematics , artificial intelligence , mathematical analysis , classical mechanics , physics , robot , control (management) , quantum mechanics , programming language
In this paper, an analytical solution for the inverse kinematics of a redundant manipulator with seven degrees of freedom and an offset rotation axis is presented. We provide a model for the redundant manipulator and introduce its self-motion. Considering geometric symmetry, sixteen sets of manipulator joint angles are obtained at once. Avoidance of singularities and obstacles is illustrated by simulation results