Proceedings ArticleDOI
Solving Inverse Kinematics Model for 7-DoF Robot Arms Based on Space Vector
TLDR
A new method is proposed to solve the inverse kinematics model for 7-DoF manipulators by focusing on how to derive equations for the feasible space of the endpoint of each joint and correspondingly the feasibleSpace of each arm-angle when the end position of the robot arm is given, which lays the foundation for the robotic arm to complete obstacle avoidance and optimal path planning tasks.Abstract:
The 7-DoF Manipulator has a high degree of flexibility and can perform many complex tasks for humans, therefore widely used in many fields. This paper proposes a new method to solve the inverse kinematics model for 7-DoF manipulators. Specifically, it focuses on how to derive equations for the feasible space of the endpoint of each joint and correspondingly the feasible space of each arm-angle when the endpoint of the robot arm is given, which lays the foundation for the robotic arm to complete obstacle avoidance and optimal path planning tasks. First, the influence of the first three joints and the last three joints on the end position of the robotic arm is decoupled. Based on this decoupling, the relationship between the last three joint angles and the end position of the robotic arm is solved through the space vector. Furthermore, the relationship between the end position of the robotic arm and the first three joint angles is obtained through coordinate rotation. Finally, this paper validates the results by simulations.read more
Citations
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Journal ArticleDOI
A Real-Time-Capable Closed-Form Multi-Objective Redundancy Resolution Scheme for Seven-DoF Serial Manipulators
TL;DR: A multi-objective real-time optimization approach that is able to minimize joint velocities and accelerations, while still avoiding joint limits is proposed, and a closed-form solution to the optimization is derived, which only requires a single intuitive tuning parameter.
Journal ArticleDOI
Active vibration control of an equipment mounting link for an exploration robot
TL;DR: An electro-mechanically coupled analytical model of the link and surface mounted sensors/actuators, that is developed in this paper using Euler-Bernoulli Beam theory, provides insight into this unconventional response from the closed loop system.
Book ChapterDOI
Solving the Inverse Kinematics of Robotic Arm Using Autoencoders
TL;DR: A novel approach to solve the inverse kinematics of robotic arms is assessed, which is based on autoencoders and finds the one that minimizes both the position error and the desired position of the end-effector of the robotic arm and the joint movement.
Journal ArticleDOI
Coordinate rotation transformation method based on ternary angle
Proceedings ArticleDOI
Research in controlled moves of robotic manipulators for biological object processing
TL;DR: The goal of the study was to develop the methods for managing the movement-dynamics system as well as for planning the trajectory of the robotic arm ensuring the manipulator will detect biological objects retaining wide enough movement spectrum and consistency of movement modes under the influence of external uncontrolled disturbances.
References
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Journal ArticleDOI
Analytical Inverse Kinematic Computation for 7-DOF Redundant Manipulators With Joint Limits and Its Application to Redundancy Resolution
TL;DR: How to obtain all feasible inverse kinematic solutions in the global configuration space where joint movable ranges are limited and analytical methods to avoid joint limits are developed in the position domain are focused on.
Journal ArticleDOI
Strategies for increasing the tracking region of an eye-in-hand system by singularity and joint limit avoidance
TL;DR: A manipulability measure is introduced into the visual tracking objective function, providing an elegant and robust technique for deriving a control law that visually tracks objects while accounting for the configuration of the manipulator.
Journal ArticleDOI
Motion control of 7-DOF arms: the configuration control approach
TL;DR: Computer simulation results are presented to demonstrate elbow control, collision avoidance, and optimal joint movement as redundancy resolution goals and Experimental results demonstrate the efficacy of configuration control for real-time control.
Proceedings ArticleDOI
Kinematic analysis of 7 DOF anthropomorphic arms
TL;DR: A kinematic analysis of anthropomorphic 7 DOF serial link spatial manipulators with revolute joints is presented and the augmented Jacobian matrix which gives end-effector and arm angle rates as functions of joint rates is given.
Proceedings ArticleDOI
Redundant arm kinematic control based on parameterization
Sukhan Lee,Antal K. Bejczy +1 more
TL;DR: The case study demonstrates that the parameterization method can be successfully applied to the position-based kinematic control of the eight-degree-of-freedom redundant arm.