A Closed-Loop Framework for the Inverse Kinematics of the 7 Degrees of Freedom Manipulator

被引：9

作者：

Song, Guoli ^{[1
,2
,3
,6
,7
]}

Su, Shun ^{[1
,2
,3
,4
]}

Li, Yingli ^{[1
,2
,3
,4
]}

Zhao, Xingang ^{[1
,2
,3
]}

Du, Huibin ^{[1
,2
,3
]}

Han, Jianda ^{[1
,2
,3
,5
]}

Zhao, Yiwen ^{[1
,2
,3
]}

机构：

[1] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Rdobot, Shenyang 110016, Peoples R China

[2] Chinese Acad Sci, Inst Robot, Shenyang 110169, Peoples R China

[3] Chinese Acad Sci, Inst Intelligent Mfg, Shenyang 110169, Peoples R China

[4] Univ Chinese Acad Sci, Beijing 100049, Peoples R China

[5] Nankai Univ, Coll Artificial Intelligence, Tianjin 300071, Peoples R China

[6] Liaoning Med Surg & Rehabil Robot Engn Res Ctr, Shenyang 110134, Peoples R China

[7] Southwest Med Univ, Affifiliated Tradit Chinese Med Hosp, Dept Orthopaed, Luzhou 646000, Peoples R China

来源：

ROBOTICA | 2021年 / 39卷 / 04期

基金：

国家重点研发计划; 中国国家自然科学基金;

关键词：

7-DOF manipulator; Redundant manipulator; UKF; Inverse kinematics; Closed-loop framework;

D O I：

10.1017/S0263574720000582

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The 7 degrees of freedom (DOF) redundant manipulator greatly improves obstacle/singularity avoidance capability and operational flexibility. However, the inverse kinematics problem of this manipulator is very difficult to solve because it has an infinite number of solutions. This paper uses a new numerical sequence processing method with a closed-loop framework to solve the inverse kinematics of the 7-DOF redundant manipulator. Simulation and experiment show that this method has high commonality. No special structure of the robot is required, and this method has improved computational efficiency and reliability.

引用

页码：572 / 581

页数：10

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