An analytical solution for the inverse kinematics of a redundant 7DoF Manipulator with link offsets

Singh, GK and Claassens, J (2010) An analytical solution for the inverse kinematics of a redundant 7DoF Manipulator with link offsets. In: International Conference on Intelligent Robots and Systems (IROS) 2010 IEEE/RSJ , 18-22 Oct. 2010, Taipei, Taiwan .

Full text not available from this repository. (Request a copy)

Abstract

This work addresses the inverse kinematics problem for the 7 Degrees of Freedom Barrett Whole Arm Manipulator with link offsets. The presence of link offsets gives rise to the possibility of the in-elbow & out-elbow poses for a given end-effector pose and is discussed in the paper. A parametric solution for all possible geometric poses is generated for a desired end-effector pose (position and orientation). The set of possible geometric poses are completely defined by three circles in the Cartesian space. A method of computing the joint-variables for any geometric pose is presented. An analytical method of identifying a set of feasible poses for some joint-angle constraints is also addressed.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Computational geometry;Dexterous manipulators;End effectors; Inverse problems;Manipulator kinematics;Redundant manipulators
Subjects: AERONAUTICS > Aeronautics (General)
ENGINEERING > Fluid Mechanics and Thermodynamics
Division/Department: Flight Mechanics and Control Division, Other
Depositing User: Ms. Alphones Mary
Date Deposited: 10 Apr 2012 16:16
Last Modified: 10 Apr 2012 16:16
URI: http://nal-ir.nal.res.in/id/eprint/10427

Actions (login required)

View Item