Abstract
This paper presents an inverse kinematics solution method for a 7-degrees-of-freedom (DOF) redundant robot with offset shoulder and wrist joints. Aiming at the plan-points of the 7-DOF redundant robot, we propose an iterative method to solve the inverse kinematics for a specific application scenario, that is, the orientation matrices and arm angle keep the same values during the movement of robot which can be found in some specific operations, like painting on a plane. The position, orientation and arm angle of current plan-point are used to calculate the corresponding values of next plan-point. Through iterative calculation, the inverse kinematics solutions can be obtained with the characteristic that the orientation matrices and arm angle maintain the same values for all plan-points. The comparison and analytical results show this iterative solving method is effective.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Xu, W.F., Lei, Y., Wang, Z.Y.: Dual arm-angle parameterisation and its applications for analytical inverse kinematics of redundant manipulators. Robotica, 1–20 (2015)
Shimizu, M., Kakuya, H., Yoon, W.K., Kitagaki, K., Kosuge, K.: Analytical inverse kinematic computation for 7-DOF redundant manipulators with joint limits and its application to redundancy resolution. IEEE Trans. Robot. 24(5), 1131–1142 (2008)
Zu, D., Wu, Z.W., Tan, D.L.: Effecient inverse kinematic solution for redundant manipulators. Chin. J. Mech. Eng. 41(6), 71–75 (2005)
Xu, W.F., Zhang, J.T., Yan, L., Wang, Z.Y.: Parameterized inverse kinematics resolution method for a redundant space manipulator with link offset. J. Aeronaut. 36(1), 33–39 (2015)
Yu, C., Jin, M.H., Liu, Y.: An analytical solution for inverse kinematic of 7-DOF redundant manipulators with offset-wrist. In: Proceedings of the 2012 International Conference on Mechatronics and Automation (ICMA), Chengdu, pp. 92–97 (2012)
Singh, G.K., Claassens, J.: An analytical solution for the inverse kinematics of a redundant 7DOF manipulator with link offsets. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), TaiPei, pp. 2976–2982 (2010)
Crane III, C.D., Duffy, J.: A kinematic analysis of the space station remote manipulator system (SSRMS). J. Robot. Syst. 8(5), 637–658 (1990)
Luo, R.C., Lin, T.W., Tsai, Y.H.: Analytical inverse kinematic solution for modularized 7-DOF redundant manipulators with offsets at shoulder and wrist. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, pp. 516–521 (2014)
Jiang, L., Huo, X.J., Liu, Y.W., Liu, H.: An integrated inverse kinematic approach for the 7-DOF humanoid RRM with offset wrist. In: Proceeding of the IEEE International conference on Robotics and Biomimetics (ROBIO), Shenzhen, pp. 2737–2742 (2013)
Seraji, H.: Configuration control of redundant manipulators: theory and implementation. IEEE Trans. Robot. Autom. 5(4), 472–490 (1989)
Glasst, K., Colbaught, R., Lim, D., Seraji, H.: On-line collision avoidance for redundant manipulators. In: Proceedings of the IEEE International Conference on Robotics and Automation, Atlanta, pp. 36–43 (1993)
Kenneth, K.D., Long, M., Seraji, H.: Kinematic analysis of 7-DOF manipulators. Int. J. Robot. Res. 11(4), 469–481 (1992)
Acknowledgments
This work is supported in part by the Foundation for Innovative Research Groups of the National Natural Science Foundation of China (Grant No. 51521003), the National Natural Science Foundation of China (NO. 61603112) and the Self-Planned Task (NO. SKLRS201721A) of State Key Laboratory of Robotics and System (HIT).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Lu, S., Gu, Y., Zhao, J., Jiang, L. (2017). An Iterative Calculation Method for Solve the Inverse Kinematics of a 7-DOF Robot with Link Offset. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10464. Springer, Cham. https://doi.org/10.1007/978-3-319-65298-6_65
Download citation
DOI: https://doi.org/10.1007/978-3-319-65298-6_65
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-65297-9
Online ISBN: 978-3-319-65298-6
eBook Packages: Computer ScienceComputer Science (R0)