NDLI: An analytical solution for the inverse kinematics of a redundant 7DoF Manipulator with link offsets

Content Provider	IEEE Xplore Digital Library
Author	Singh, G.K. Claassens, J.
Copyright Year	2010
Description	Author affiliation: Mobile Intelligent Autonomous Systems, CSIR Pretoria, RSA, South Africa (Claassens, J.) \|\| Flight Mechanics & Control Division, National Aerospace Laboratories, CSIR Bangalore, India (Singh, G.K.)
Abstract	This work addresses the inverse kinematics problem for the 7 Degrees of Freedom Barrett Whole Arm Manipulator with link offsets. The presence of link offsets gives rise to the possibility of the in-elbow & out-elbow poses for a given end-effector pose and is discussed in the paper. A parametric solution for all possible geometric poses is generated for a desired end-effector pose (position and orientation). The set of possible geometric poses are completely defined by three circles in the Cartesian space. A method of computing the joint-variables for any geometric pose is presented. An analytical method of identifying a set of feasible poses for some joint-angle constraints is also addressed.
Starting Page	2976
Ending Page	2982
File Size	1340110
Page Count	7
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5649095
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Wrist Manipulators Kinematics Elbow Redundancy Geometry
Content Type	Text
Resource Type	Article

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