Inverse Kinematics Analysis of a 7-DOF Space Manipulator for Trajectory Design

查看全文 作　　者：Pengfei [1]Xin;Jili [1]Rong;Yongtai [2]Yang;Dalin [1]Xiang

机构地区：[1]School of Aerospace Engineering,Beijing Institute of Technology;[2]Quanzhou Institute of Equipment Manufacturing,Haixi Institutes,Chinese Academy of Sciences

出　　处：《Journal of Beijing Institute of Technology》索引2017年第26卷第3期,共7页

基　　金：Supported by Aerospace Science and Technology Innovation Foundation(CAST20100141107) 摘　　要：To solve the inverse kinematics problem for redundant degrees of freedom(DOFs)manipulators has been and still continues to be quite challenging in the field of robotics.Aiming at trajectory planning for a 7-DOF space manipulator system,joint rotation trajectories are obtained from predetermined motion trajectories and poses of the end effector in Cartesian space based on the proposed generalized inverse kinematics method.A minimum norm method is employed to choose the best trajectory among available trajectories.Numerical simulations with the7-DOF manipulator show that the proposed method can achieve the planned trajectory and pose under the circumstances of minimum angular velocities.Moreover,trajectory results from the proposed kinematics model and inverse kinematics method has the advantages of simple modelling,low computation cost,easy to solve and plan trajectory conveniently.The smooth and continuous joint rotation functions obtained from the proposed method are suitable for practical engineering applications. 关键词：redundant manipulator inverse kinematics trajectory design minimum norm method

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Inverse Kinematics Analysis of a 7-DOF Space Manipulator for Trajectory Design

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