An Analytic and Optimal Inverse Kinematic Solution for a 7-DOF Space Manipulator

被引：9

作者：

WANG Yingshi ^{[1
,2
]}

SUN Lei ^{[1
,2
]}

YAN Wenbin ^{[1
,2
]}

LIU Jingtai ^{[1
,2
]}

机构：

[1] Institute of Robotics and Automatic Information System, Nankai University

[2] Tianjin Key Laboratory of Intelligent Robotics, Nankai University

来源：

机器人 | 2014年 / 36卷 / 05期

基金：

中国国家自然科学基金;

关键词：

redundant manipulator; inverse kinematics; spacecraft; optimization analysis;

D O I：

10.13973/j.cnki.robot.2014.0502

中图分类号：

TP241 [机械手];

学科分类号：

080202 ; 1405 ;

摘要：

An analytic inverse kinematic solution is presented for a 7-DOF(degree of freedom)redundant space manipulator.The proposed method can obtain all the feasible solutions in the global joint space,which are denoted by a joint angle parameter.Meanwhile,both the singularity problem and the joint limits are considered in detail.Besides,an optimization approach is provided to get one near optimal inverse kinematic solution from all the feasible solutions.The proposed method can reduce effectively the computational complexity,so that it can be applied online.Finally,the method’s validity is shown by kinematic simulations.

引用

页码：592 / 599

页数：8