A closed-loop framework for inverse kinematics of the 7-DOF manipulator

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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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