Analytic Inverse Kinematics Considering the Joint Constraints and Self-Collision for Redundant 7DOF Manipulator

机译：考虑到冗余7DOF操纵器的关节约束和自碰撞的分析反向运动学

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This study proposes an analytic inverse kinematic solution considering joint limit and self-collision avoidance for a redundant 7DOF manipulator with spherical shoulder and wrist joints. An analytic approach is used to satisfy the sub-task. The arm angle is used to restrain the manipulator redundancy. The analytic inverse kinematic solution set satisfying the sub-task is proposed by determining the range of the feasible arm angle. The effectiveness of the proposed method was verified through a simulation. We confirmed that the solution of the proposed method always satisfies the joint limit constraints and self-collision avoidance.

机译：本研究提出了一种考虑到具有球形肩部和腕关节的冗余7dof操纵器的关节限制和自碰撞避免的分析逆运动学解决方案。使用分析方法来满足子任务。臂角度用于抑制机械手冗余。通过确定可行臂角度的范围来提出满足子任务的分析反向运动溶液组。通过模拟验证了所提出的方法的有效性。我们确认提出的方法的解决方案总是满足联合限制约束和自碰自行避免。

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《IEEE International Conference on Robotic Computing》|2017年|1 v.|共6页
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Jaesung Oh; Hyoin Bae; Jun-Ho Oh;
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中图分类计算技术、计算机技术;
关键词
Manipulators; Robot kinematics; Kinematics; Shoulder; Collision avoidance; Wrist;

机译：操纵器;机器人运动学;运动学;肩部;碰撞避免;手腕;

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1. Analytical Inverse Kinematic Computation for 7-DOF Redundant Manipulators With Joint Limits and Its Application to Redundancy Resolution [J] . Shimizu M., Kakuya H., Yoon W.-K., IEEE Transactions on Robotics . 2008,第5期

机译：具有关节极限的7自由度冗余机械臂的解析运动学逆计算及其在冗余度解析中的应用
2. Predictive Inverse Kinematics for Redundant Manipulators With Task Scaling and Kinematic Constraints [J] . Faroni Marco, Beschi Manuel, Pedrocchi Nicola, IEEE Transactions on Robotics . 2019,第1期

机译：具有任务缩放和运动学约束的冗余机械手的预测逆运动学
3. An Efficient and Accurate Inverse Kinematics for 7-DOF Redundant Manipulators Based on a Hybrid of Analytical and Numerical Method [J] . Jin Minghe, Liu Qiang, Wang Bin, Quality Control, Transactions . 2020,第期

机译：基于分析和数值方法的杂交体的7-DOF冗余机械手的高效准确的逆运动学
4. Analytic Inverse Kinematics Considering the Joint Constraints and Self-Collision for Redundant 7DOF Manipulator [C] . Jaesung Oh, Hyoin Bae, Jun-Ho Oh IEEE International Conference on Robotic Computing . 2017

机译：考虑关节约束和自碰撞的冗余7DOF机械臂的解析逆运动学
5. Inverse kinematics and path planning methods for discretely-actuated hyper-redundant manipulators. [D] . Lanteigne, Eric. 2011

机译：离散驱动的超冗余机械手的逆运动学和路径规划方法。
6. The Influence of Kinematic Constraints on Model Performance During Inverse Kinematics Analysis of the Thoracolumbar Spine [O] . Mohammad Mehdi Alemi, Katelyn A. Burkhart, Andrew C. Lynch, 2021

机译：运动限制对胸腰椎逆运动学分析期间模型性能的影响
7. Predictive Inverse Kinematics for Redundant Manipulators With Task Scaling and Kinematic Constraints [O] . Marco Faroni, Manuel Beschi, Nicola Pedrocchi, 2019

机译：任务缩放和运动约束的冗余机械手的预测逆运动学
8. A complete analytical solution for the inverse instantaneous kinematics of a spherical-revolute-spherical (7R) redundant manipulator [R] . Podhorodeski, R. P., Fenton, R. G., Goldenberg, A. A. 1989

机译：球面 - 旋转 - 球面（7R）冗余机械手的逆瞬时运动学的完整解析解

Analytic Inverse Kinematics Considering the Joint Constraints and Self-Collision for Redundant 7DOF Manipulator

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