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Article: An analytical solution for a redundant manipulator with seven degrees of freedom

TitleAn analytical solution for a redundant manipulator with seven degrees of freedom
Authors
Nammoto, TakashiKosuge, Kazuhiro
KeywordsRedundant manipulator
Joint limit
Singularity
Inverse kinematics
Issue Date2012
Citation
International Journal of Automation and Smart Technology, 2012, v. 2, n. 4, p. 339-346 How to Cite?
DOI: http://dx.doi.org/10.5875/ausmt.v2i4.172
AbstractIn this paper, an analytical solution for the inverse kinematics of a redundant manipulator with seven degrees of freedom and an offset rotation axis is presented. We provide a model for the redundant manipulator and introduce its self-motion. Considering geometric symmetry, sixteen sets of manipulator joint angles are obtained at once. Avoidance of singularities and obstacles is illustrated by simulation results. © 2012 International Journal of Automation and Smart Technology.
Persistent Identifierhttp://hdl.handle.net/10722/302909

 

DC FieldValueLanguage
dc.contributor.authorNammoto, Takashi-
dc.contributor.authorKosuge, Kazuhiro-
dc.date.accessioned2021-09-07T08:42:49Z-
dc.date.available2021-09-07T08:42:49Z-
dc.date.issued2012-
dc.identifier.citationInternational Journal of Automation and Smart Technology, 2012, v. 2, n. 4, p. 339-346-
dc.identifier.urihttp://hdl.handle.net/10722/302909-
dc.description.abstractIn this paper, an analytical solution for the inverse kinematics of a redundant manipulator with seven degrees of freedom and an offset rotation axis is presented. We provide a model for the redundant manipulator and introduce its self-motion. Considering geometric symmetry, sixteen sets of manipulator joint angles are obtained at once. Avoidance of singularities and obstacles is illustrated by simulation results. © 2012 International Journal of Automation and Smart Technology.-
dc.languageeng-
dc.relation.ispartofInternational Journal of Automation and Smart Technology-
dc.subjectRedundant manipulator-
dc.subjectJoint limit-
dc.subjectSingularity-
dc.subjectInverse kinematics-
dc.titleAn analytical solution for a redundant manipulator with seven degrees of freedom-
dc.typeArticle-
dc.description.naturelink_to_OA_fulltext-
dc.identifier.doi10.5875/ausmt.v2i4.172-
dc.identifier.scopuseid_2-s2.0-84891537041-
dc.identifier.volume2-
dc.identifier.issue4-
dc.identifier.spage339-
dc.identifier.epage346-
dc.identifier.eissn2223-9766-

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