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题名:
A closed-loop framework for inverse kinematics of the 7-DOF manipulator
作者: 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)
作者部门: 机器人学研究室
会议名称: 2016 2nd International Conference on Control Science and Systems Engineering
会议日期: July 27-29, 2016
会议地点: Singapore
会议录: PROCEEDINGS OF 2016 2ND INTERNATIONAL CONFERENCE ON CONTROL SCIENCE AND SYSTEMS ENGINEERING (ICCSSE)
会议录出版者: IEEE
会议录出版地: New York
出版日期: 2016
页码: 237-241
收录类别: EI ; CPCI(ISTP)
EI收录号: 20170503309049
WOS记录号: WOS:000391313300050
产权排序: 1
ISBN号: 978-1-4673-9872-5
关键词: 7-DOF manipulator ; inverse kinematics ; closed-loop framework
摘要: The 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.
语种: 英语
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/19546
Appears in Collections:机器人学研究室_会议论文

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作者单位: 1.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:
Du HB,Zhao YW,Li XG,et al. A closed-loop framework for inverse kinematics of the 7-DOF manipulator[C]. 2016 2nd International Conference on Control Science and Systems Engineering. Singapore. July 27-29, 2016.A closed-loop framework for inverse kinematics of the 7-DOF manipulator.
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