An Algorithm Of Inverse Kinematics For Manipulator With Redundancy

被引：0
|
作者：
Meng Qingmei [1 ]
Wang Pengcheng [1 ]
Deng Jiaming [1 ]
Shen Huiping [1 ]
Luo Minzhou [2 ]
机构：
[1] Changzhou Univ, Sch Mech Engn, Wujin Dist Gehu Lake Rd 1, Changzhou, Jiangsu, Peoples R China
[2] Changzhou Inst Adv Mfg Technol, Changzhou, Jiangsu, Peoples R China
来源：
2015 IEEE INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (CYBER) | 2015年
关键词：
redundant freedom; mechanical arm; modular; inverse kinematics Introduction;
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：
A novel method to solve the inverse kinematics for manipulator with redundancy was proposed in this paper. First, Based on the complexity of space configuration and self-motion, 7 degrees of freedom (DoF) was divided into two modular units; The concepts of "anchor point" and "virtual link" are introduced to build the parametric model for robot arm; The workspace is analyzed based on the consideration of joints' boundary condition by Monte Carlo method; Finally, the simulation was implemented on a 7-DoF manipulator and the simulation results verify the feasibility and effectiveness of the proposed method.
引用
收藏
页码：54 / 58
页数：5
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