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

Takashi Nammoto, Kazuhiro Kosuge

研究成果: Article

9 引用 (Scopus)

抜粋

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.

元の言語English
ページ(範囲)339-346
ページ数8
ジャーナルInternational Journal of Automation and Smart Technology
2
発行部数4
DOI
出版物ステータスPublished - 2012

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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