DocumentCode :
3297520
Title :
An integrated inverse kinematic approach for the 7-DOF humanoid arm with offset wrist
Author :
Li Jiang ; Xijian Huo ; Yiwei Liu ; Hong Liu
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
fYear :
2013
fDate :
12-14 Dec. 2013
Firstpage :
2737
Lastpage :
2742
Abstract :
The paper proposes an integrated approach to solve the inverse kinematics of the 7-DOF humanoid arm with offset wrist. Firstly, according to the arm´s configuration, the closed-form solutions of inverse kinematics for 7-DOFs arms are developed based on the reverse coordinates method. Secondly, an integrated inverse kinematic approach, termed the modified gradient projection method, is proposed on the condition of closed form solutions and the gradient projection method. Thirdly, thanks to the arm´s redundancy, multiple objectives optimization including avoidance of singularity, joint limits and joint velocity limits are completed during motions. And finally, the validity of the closed form solutions and the integrated approach is verified by kinematic simulations, and the integrated approach provides better precision and optimization during trajectory tracking.
Keywords :
end effectors; humanoid robots; manipulator kinematics; optimisation; trajectory control; 7-DOF humanoid arm; arm configuration; closed-form solutions; degrees-of-freedom; integrated inverse kinematic approach; joint limits; joint velocity limits; kinematic simulations; modified gradient projection method; multiple objectives optimization; offset wrist; reverse coordinates method; singularity avoidance; trajectory tracking; Closed-form solutions; End effectors; Joints; Kinematics; Vectors; Wrist;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on
Conference_Location :
Shenzhen
Type :
conf
DOI :
10.1109/ROBIO.2013.6739888
Filename :
6739888
Link To Document :
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