摘要
An analytic inverse kinematic solution is presented for a 7-DOF(degree of freedom)redundant space manipulator.The proposed method can obtain all the feasible solutions in the global joint space,which are denoted by a joint angle parameter.Meanwhile,both the singularity problem and the joint limits are considered in detail.Besides,an optimization approach is provided to get one near optimal inverse kinematic solution from all the feasible solutions.The proposed method can reduce effectively the computational complexity,so that it can be applied online.Finally,the method’s validity is shown by kinematic simulations.
An analytic inverse kinematic solution is presented for a 7-DOF（degree of freedom）redundant space manipulator.The proposed method can obtain all the feasible solutions in the global joint space,which are denoted by a joint angle parameter.Meanwhile,both the singularity problem and the joint limits are considered in detail.Besides,an optimization approach is provided to get one near optimal inverse kinematic solution from all the feasible solutions.The proposed method can reduce effectively the computational complexity,so that it can be applied online.Finally,the method＇s validity is shown by kinematic simulations.
出处
《机器人》
EI
CSCD
北大核心
2014年第5期592-599,共8页
Robot
基金
the National 863 Program of China(2012AA041403)
the National Natural Science Foundation of China(61305107)
关键词
机器人
设计
7-DOF
自动化
redundant manipulator,inverse kinematics,spacecraft,optimization analysis
