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A Closed-Loop Framework for the Inverse Kinematics of the 7 Degrees of Freedom Manipulator
Song GL(宋国立)1,2,5,6; Su S(苏顺)1,2,3; Li YL(李英立)1,2,3; Zhao XG(赵新刚)1,2; Du HB(杜惠斌)1,2; Han JD(韩建达)1,2,4; Zhao YW(赵忆文)1,2
Department机器人学研究室
Source PublicationRobotica
ISSN0263-5747
2020
Pages1-10
Indexed ByEI
EI Accession number20204609477951
Contribution Rank1
Funding OrganizationNational Key R&D Program of China (Grant No. 2017YFB1302802) ; National Natural Science Foundation of China (Grant No. 61703394 & 61821005) ; Special Fund for High-level Talents (Shizhen Zhong Team) of the People's Government of Luzhou-Southwestern Medical University
Keyword7-DOF manipulator Redundant manipulator UKF Inverse kinematics Closed-loop framework
Abstract

The 7 degrees of freedom (DOF) redundant manipulator greatly improves obstacle/singularity avoidance capability and operational flexibility. However, the inverse kinematics problem of this manipulator is very difficult to solve because 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. Simulation and experiment show that this method has high commonality. No special structure of the robot is required, and this method has improved computational efficiency and reliability.

Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/27907
Collection机器人学研究室
Corresponding AuthorZhao YW(赵忆文)
Affiliation1.State Key Laboratory of Rdobotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
4.College of Artificial Intelligence, Nankai University, Tianjing 300071, China
5.Liaoning Medical Surgery and Rehabilitation, Robot Engineering Research Center, Shenyang 110134, China
6.Department of Orthopaedics, Affifiliated Traditional Chinese Medicine Hospital, Southwest Medical University, Luzhou 646000, China
Recommended Citation
GB/T 7714
Song GL,Su S,Li YL,et al. A Closed-Loop Framework for the Inverse Kinematics of the 7 Degrees of Freedom Manipulator[J]. Robotica,2020:1-10.
APA Song GL.,Su S.,Li YL.,Zhao XG.,Du HB.,...&Zhao YW.(2020).A Closed-Loop Framework for the Inverse Kinematics of the 7 Degrees of Freedom Manipulator.Robotica,1-10.
MLA Song GL,et al."A Closed-Loop Framework for the Inverse Kinematics of the 7 Degrees of Freedom Manipulator".Robotica (2020):1-10.
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