NDLI: Inverse kinematic optimizations of 7R humanoid arms based on a joint parameterization

Content Provider	IEEE Xplore Digital Library
Author	Xijian Huo Yiwei Liu Li Jiang Hong Liu
Copyright Year	2014
Description	Author affiliation: State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China (Xijian Huo; Yiwei Liu; Li Jiang; Hong Liu)
Abstract	This paper proposes kinematic optimizations of 7R humanoid arms based on the joint parameterization and the self-optimizing method. Because self-motions of the redundant robots, inverse kinematic optimizations of joint limits avoidance are discussed in this paper. Firstly, the evaluation criterion of kinematic optimizations is defined, and the self-optimizing method is proposed. Then, inverse kinematics of 7R humanoid arms with the SRS configuration is analyzed, and closed-form solutions about each joint are performed based on the joint parameterization. Besides, determinations of initial kinematic solutions for optimizations are expressed, and the kinematic optimizations scheme is further proposed. Finally, kinematic simulations of the 7R humanoid arm are performed, and the results demonstrate that this optimizations scheme is valid for inverse kinematic optimizations of 7R redundant robots.
Starting Page	113
Ending Page	118
File Size	352712
Page Count	6
File Format	PDF
ISBN	9781479939787
e-ISBN	9781479939794
DOI	10.1109/ICMA.2014.6885681
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-03
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Kinematics Optimization Robots Closed-form solutions Wrist Shoulder Self-optimizing method Closed-form solution Humanoid arm Joint limits
Content Type	Text
Resource Type	Article

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