An analytical solution for a redundant manipulator with seven degrees of freedom

Takashi Nammoto, Kazuhiro Kosuge

Research output: Contribution to journalArticle

9 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)339-346
Number of pages8
JournalInternational Journal of Automation and Smart Technology
Volume2
Issue number4
DOIs
Publication statusPublished - 2012

Keywords

  • Inverse kinematics
  • Joint limit
  • Redundant manipulator
  • Singularity

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Signal Processing
  • Human-Computer Interaction
  • Hardware and Architecture
  • Electrical and Electronic Engineering
  • Artificial Intelligence

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