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A closed-loop framework for inverse kinematics of the 7-DOF manipulator
Du HB(杜惠斌); Zhao YW(赵忆文); Li XG(李晓光); Han JD(韩建达); Wang Z(王争); Song GL(宋国立)
Department机器人学研究室
Conference Name2016 2nd International Conference on Control Science and Systems Engineering
Conference DateJuly 27-29, 2016
Conference PlaceSingapore
Source PublicationPROCEEDINGS OF 2016 2ND INTERNATIONAL CONFERENCE ON CONTROL SCIENCE AND SYSTEMS ENGINEERING (ICCSSE)
PublisherIEEE
Publication PlaceNew York
2016
Pages237-241
Indexed ByEI ; CPCI(ISTP)
EI Accession number20170503309049
WOS IDWOS:000391313300050
Contribution Rank1
ISBN978-1-4673-9872-5
Keyword7-dof Manipulator Inverse Kinematics Closed-loop Framework
AbstractThe 7-DOF redundant manipulator in greatly improves the obstacle/singularity avoidance capability and operational flexibility. Meanwhile, its inverse kinematics problem would be much difficult since 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. Simulations show that this method has high commonality, no special structure of robot required, and also has improved computational efficiency and reliability.
Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19546
Collection机器人学研究室
Corresponding AuthorDu HB(杜惠斌)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
Recommended Citation
GB/T 7714
Du HB,Zhao YW,Li XG,et al. A closed-loop framework for inverse kinematics of the 7-DOF manipulator[C]. New York:IEEE,2016:237-241.
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