A new method of inverse kinematics solution for industrial 7DOF robot

Author

Huang Liang-song ; Jiang Ru-kang

Author_Institution

Robot Res. Center, Shandong Univ. of Sci. & Technol., Qingdao, China

fYear

2013

Firstpage

6063

Lastpage

6065

Abstract

A new method of inverse kinematics solution for industrial 7DOF robot is presented. The forward kinematics solution of the robot was solved by D-H method. The method was adopted by combination the separation of position and posture of robot and algebraic iterative, and transforming the inverse kinematic solution of 7DOF robot to the position redundant problem of 4DOF robot. The simulation of the joints´ movement of robot was implemented by MATLAB software programming. The computational complexity of this method is relatively small, suitable for real-time control, which is suitable for application in industrial robot control.

Keywords

algebra; computational complexity; control engineering computing; industrial robots; iterative methods; position control; robot kinematics; D-H method; Matlab software programming; algebraic iterative; computational complexity; industrial 7DOF robot; industrial seven degrees-of-freedom robot; inverse kinematics solution; position redundant problem; robot joints movement; robot position; robot posture; Joints; Kinematics; Manipulators; Real-time systems; Robot kinematics; Service robots; Algebraic Iterative; Industrial 7DOF Robot; Inverse Kinematics; Separation of Position and Posture;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2013 32nd Chinese

Conference_Location

Xi´an

Type

conf

Filename

6640499