Inverse kinematic optimizations of 7R humanoid arms based on a joint parameterization

This paper proposes kinematic optimizations of 7R humanoid arms based on the joint parameterization and the self-optimizing method. Because self-motions of the redundant robots, inverse kinematic optimizations of joint limits avoidance are discussed in this paper. Firstly, the evaluation criterion of kinematic optimizations is defined, and the self-optimizing method is proposed. Then, inverse kinematics of 7R humanoid arms with the SRS configuration is analyzed, and closed-form solutions about each joint are performed based on the joint parameterization. Besides, determinations of initial kinematic solutions for optimizations are expressed, and the kinematic optimizations scheme is further proposed. Finally, kinematic simulations of the 7R humanoid arm are performed, and the results demonstrate that this optimizations scheme is valid for inverse kinematic optimizations of 7R redundant robots.