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 .
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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 |
| Depositing User: | Ms. Alphones Mary |
| Date Deposited: | 10 Apr 2012 10:46 |
| Last Modified: | 10 Apr 2012 10:46 |
| URI: | http://nal-ir.nal.res.in/id/eprint/10427 |
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