| 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)
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| Department | 机器人学研究室 |
| Conference Name | 2016 2nd International Conference on Control Science and Systems Engineering |
| Conference Date | July 27-29, 2016 |
| Conference Place | Singapore |
| Source Publication | PROCEEDINGS OF 2016 2ND INTERNATIONAL CONFERENCE ON CONTROL SCIENCE AND SYSTEMS ENGINEERING (ICCSSE) |
| Publisher | IEEE |
| Publication Place | New York |
| 2016 | |
| Pages | 237-241 |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 20170503309049 |
| WOS ID | WOS:000391313300050 |
| Contribution Rank | 1 |
| ISBN | 978-1-4673-9872-5 |
| Keyword | 7-dof Manipulator Inverse Kinematics Closed-loop Framework |
| Abstract | 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. |
| Language | 英语 |
| Citation statistics | |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/19546 |
| Collection | 机器人学研究室 |
| Corresponding Author | Du HB(杜惠斌) |
| Affiliation | 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 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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| A closed-loop framew（714KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Download | ||
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