Analytical inverse kinematic solution with self-motion constraint for the 7-DOF restore robot arm

Author

An, Happy H. ; Clement, William I. ; Reed, B.

Author_Institution

Orbital Sci. Corp., Greenbelt, MD, USA

fYear

2014

fDate

8-11 July 2014

Firstpage

1325

Lastpage

1330

Abstract

This paper presents an analytical inverse kinematic (IK) solution for the seven degree-of-freedom (7-DOF) “Restore” robot arm with non-zero joint offsets. We provide two closed-form solutions - the shoulder-elbow-wrist (SEW) IK and the θ₁-based solution. Both allow self-motion and together they solve the problem of algorithmic singularities within the workspace. Non-zero link offsets require careful selection of shoulder, elbow, and wrist locations. The solution is simple, fast and exact, providing full solution space (i.e. all eight solutions) per pose.

Keywords

dexterous manipulators; manipulator kinematics; 7-DOF Restore robot arm; algorithmic singularities; analytical inverse kinematic solution; closed-form solutions; elbow location; nonzero joint offsets; self-motion constraint; seven degree-of-freedom; shoulder location; shoulder-elbow-wrist solution; wrist location; Elbow; Joints; Kinematics; Robots; Shoulder; Vectors; Wrist; 7-DOF redundant robot arm; SEW inverse kinematics; self-motion; singularities;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics (AIM), 2014 IEEE/ASME International Conference on

Conference_Location

Besacon

Type

conf

DOI

10.1109/AIM.2014.6878266

Filename

6878266