Kinematics Analysis and Motion Planning For a 7-DOF Redundant Industrial Robot Manipulator

被引：0
|
作者：
Kim, Jayoung [1 ]
Sin, Minyoung [1 ]
Lee, Jihong [1 ]
机构：
[1] Chungnam Natl Univ, Dept Mechatron Engn, Taejon 305335, South Korea
来源：
2011 11TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS) | 2011年
关键词：
Manipulator; Redundancy; Inverse Kinematics; Minimum Space; Singularity/Obstacle avoidance;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper proposes application methods for utilizing a 7-DOF robot manipulator called YH050 in industrial settings. For finding an optimal method to solve the inverse kinematics problem, we propose three methods: numerical approach, geometrical approach and combined approach for inverse kinematics solution. Also, for efficient application of the robot in a work zone, we present motion planning to avoid singularities, obstacles, and to occupy minimal workspace. In this paper, these studies are theoretically explained and then experimentally verified.
引用
收藏
页码：522 / 527
页数：6
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