Title :
Analytical inverse kinematic solution with self-motion constraint for the 7-DOF restore robot arm
Author :
An, Happy H. ; Clement, William I. ; Reed, B.
Author_Institution :
Orbital Sci. Corp., Greenbelt, MD, USA
Abstract :
This paper presents an analytical inverse kinematic (IK) solution for the seven degree-of-freedom (7-DOF) “Restore” robot arm with non-zero joint offsets. We provide two closed-form solutions - the shoulder-elbow-wrist (SEW) IK and the θ1-based solution. Both allow self-motion and together they solve the problem of algorithmic singularities within the workspace. Non-zero link offsets require careful selection of shoulder, elbow, and wrist locations. The solution is simple, fast and exact, providing full solution space (i.e. all eight solutions) per pose.
Keywords :
dexterous manipulators; manipulator kinematics; 7-DOF Restore robot arm; algorithmic singularities; analytical inverse kinematic solution; closed-form solutions; elbow location; nonzero joint offsets; self-motion constraint; seven degree-of-freedom; shoulder location; shoulder-elbow-wrist solution; wrist location; Elbow; Joints; Kinematics; Robots; Shoulder; Vectors; Wrist; 7-DOF redundant robot arm; SEW inverse kinematics; self-motion; singularities;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2014 IEEE/ASME International Conference on
Conference_Location :
Besacon
DOI :
10.1109/AIM.2014.6878266
