Based on the structure of a robot manipulator with seven degrees of freedom (7-DOF) and its self-motion characteristic, a geometric method is proposed to find solution of inverse-kinematics of a robot. The algorithm is at the level of position for inverse kinematics. Self-motion of the redundant manipulator is described and used to solve inverse kinematics of the redundant manipulator. The inverse-kinematics is solved using its self-motion. Computation involved in the method is easy. It is efficient in solving the inverse kinematics.
CUI Ze, HAN Zeng-jun
. Inverse Kinematics Algorithm of 7-DOF Manipulator Based on Self-Motion[J]. Journal of Shanghai University, 2012
, 18(6)
: 589
-605
.
DOI: 10.3969/j.issn.1007-2861.2012.06.008
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