Advertisement

Kinematics Solution and Workspace Analysis of a Seven (DOF) Redundant Manipulator

  • Cunfeng Kang
  • Juan WuEmail author
  • Shizheng Zhang
  • Ting Miao
  • Guanchen Zong
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11745)

Abstract

The standard D-H parameter method was used to analyze the kinematic modeling of the redundant manipulator with seven degrees of freedom. By establishing the link coordinate system, the transformation matrix of the end tool coordinate system relative to the fixed coordinate system is obtained, and the positive motion of the manipulator is solved. According to the working condition requirements and the structural constraints of the mechanical arm, the joint angle of the mechanical arm is constrained, and the inverse kinematics solution of the mechanical arm is solved by the matrix inverse multiplication analysis method, and the positive kinematics solution is mutually verified to ensure the correctness of the solution; Matlab Robotics Toolbox 10.3 simulates the working space of the manipulator model, and judges the rationality of the manipulator structure through the simulation space results.

Keywords

Tandem manipulator Seven DOF Kinematics Workspace 

References

  1. 1.
    Craig, J.J.: Introduction to Robotics, 4nd edn. China Machine Press, Beijing (2018)Google Scholar
  2. 2.
    da Graça Marcos, M., Duarte, F.B., Machado, J.T.: Fractional dynamics in the trajectory control of redundant manipulators. Commun. Nonlinear Sci. Numer. Simul. 13(9), 1836–1844 (2008)Google Scholar
  3. 3.
    Pieper, D.L.: The Kinematics of Manipulators Under Computer Control. Stanford University, Stanford (1968)Google Scholar
  4. 4.
    Daffy, J.: Analysis of mechanisms and robot manipulators. Edward Arnold, London (1980)Google Scholar
  5. 5.
    Zhu, X.: Design of Mechanical Arm Applied to Wall Moving Operation and Its Characteristics Study, pp. 23–24. Shanghai Jiaotong University, Shanghai (2014)Google Scholar
  6. 6.
    Li, B., Sun, H., Jia, Q., et al.: Space robots based on Monte Carlo method space computing field. Spacecraft Eng. 20(4), 79–85 (2011)Google Scholar
  7. 7.
    Zhao, Y., Zhang, Y., Jiang, J., et al.: Robot workspace based on matlab solution method. Mech. Sci. Technol. 28 (12), 1657 (2009)Google Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Beijing University of TechnologyBeijingChina

Personalised recommendations