The kinematics for a 7-DOF (degrees of freedom) redundant manipulator is analyzed. The Denavit-Hartenberg (D-H) method is used to analyze forward kinematics. Position and attitude of the end-effector with respect to the base are obtained. Attitude is separated from position in analyzing inverse kinematics. For the position inverse kinematics, angular-displacement of the former four joints is obtained under a constraint condition. For the attitude inverse kinematics, the Euler angles are used to describe attitude of the end-effector with respect to the base. This way, the calculation is reduced. For the modular 7-DOF manipulator produced by SCHUNK, kinematics is analyzed and verified by virtual prototyping simulation.
LEI Jing-tao, DAI Wen-jie
. Inverse kinematics analysis of modular manipulator by separating attitude from position[J]. Journal of Shanghai University, 2015
, 21(5)
: 588
-597
.
DOI: 10.3969/j.issn.1007-2861.2014.02.015
[1] 陈鹏, 刘璐. 一种仿人机械臂的运动学逆解的几何求解方法[J]. 机器人, 2012, 34(2): 211-216.
[2] Dagraca M M, Fernando B M D, Machado J A T. Fractional dynamics in the trajectory control of redundant manipulators [J]. Communications in Nonlinear Science and Numerical Simulation, 2008, 13(9): 1836-1844.
[3] 张秋毫, 孙汉旭, 叶平, 等. 冗余度机器人附加速度避障方法[J]. 机电产品开发与创新, 2004, 17(3): 4-6.
[4] 赵建文, 李来航, 左志远. 冗余度机器人梯度投影逆解算法的改进[J]. 机械科学与技术, 2009, 28(5): 618-621.
[5] Yun Y S, Moon C. Comparison of adaptive genetic algorithm for engineering optimization problems [J]. International Journal of Industrial Engineering, 2003, 10(4): 584-590.
[6] Wang J P, Xu C S, Sun X J, et al. A novel genetic algorithm and its application in variable structure control of robot [J]. Journal of Shanghai University: English Edition, 2005, 9(3): 255-260.
[7] 王海, 蔡凤英, 张为公. 一种7DOF机械臂逆运动学解析算法及其应用[J]. 江苏大学学报: 自然科学版, 2011, 32(3): 254-259.
[8] 徐俊虎, 栾楠, 张诗雷, 等. 7 自由度机械臂的运动学逆解与优化[J]. 机电一体化, 2011, 6: 28-33.
