Title :
A novel inverse kinematics solution for a 7-DOF humanoid manipulator
Author :
Cui, Ze ; Pan, Hongwei ; Qian, Donghai ; Peng, Yun ; Han, Zengjun
Author_Institution :
Dept. of Precision Mech. Eng., Shanghai Univ., Shanghai, China
Abstract :
Based on the special structure of a 7-DOF humanoid manipulator and its characteristics of self-motion, we propose a novel inverse kinematics solution using the geometric method at the level of position. The self-motion of the redundant manipulator is demonstrated and is used to solve the inverse kinematics. The method is concise and easy to realize, and the simulation results prove its efficiency.
Keywords :
geometry; humanoid robots; mobile robots; redundant manipulators; 7-DOF humanoid manipulator; geometric method; inverse kinematics solution; redundant manipulator; self-motion characteristics; Jacobian matrices; Joints; Kinematics; Manifolds; Manipulators; Vectors; 7-DOF humanoid manipulator; inverse kinematics; self-motion;
Conference_Titel :
Mechatronics and Automation (ICMA), 2012 International Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4673-1275-2
DOI :
10.1109/ICMA.2012.6285690
