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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)
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
会议录名称PROCEEDINGS OF 2016 2ND INTERNATIONAL CONFERENCE ON CONTROL SCIENCE AND SYSTEMS ENGINEERING (ICCSSE)
出版者IEEE
出版地New York
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
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19546
专题机器人学研究室
通讯作者Du HB(杜惠斌)
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
推荐引用方式
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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