反向动力学
运动学
自由度(物理和化学)
控制理论(社会学)
奇点
并联机械手
障碍物
灵活性(工程)
计算机科学
反向
操纵器(设备)
运动学方程
控制工程
机器人
机器人运动学
数学
工程类
人工智能
控制(管理)
几何学
物理
移动机器人
经典力学
统计
法学
量子力学
政治学
作者
Guoli Song,Shun Su,Yingli Li,Xingang Zhao,Huibin Du,Jianda Han,Yiwen Zhao
出处
期刊:Robotica
[Cambridge University Press]
日期:2020-08-13
卷期号:39 (4): 572-581
被引量:14
标识
DOI:10.1017/s0263574720000582
摘要
SUMMARY The 7 degrees of freedom (DOF) redundant manipulator greatly improves obstacle/singularity avoidance capability and operational flexibility. However, the inverse kinematics problem of this manipulator is very difficult to solve because it has an infinite number of solutions. This paper uses a new numerical sequence processing method with a closed-loop framework to solve the inverse kinematics of the 7-DOF redundant manipulator. Simulation and experiment show that this method has high commonality. No special structure of the robot is required, and this method has improved computational efficiency and reliability.
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