DocumentCode
3136752
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
fYear
2012
fDate
5-8 Aug. 2012
Firstpage
2230
Lastpage
2234
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics and Automation (ICMA), 2012 International Conference on
Conference_Location
Chengdu
Print_ISBN
978-1-4673-1275-2
Type
conf
DOI
10.1109/ICMA.2012.6285690
Filename
6285690
Link To Document