An algebraic inverse method of 7-DoF manipulator redundant robots

作者：Guo Shuai^*; Cheng Hongjmg; Xie Chunsheng

来源：Journal of Applied Sciences, 2013, 13(13): 2366-2371.

DOI：10.3923/jas.2013.2366.2371

• 7-dof redundant manipulators
• Algebraic algorithms
• Algebraic method
• Inverse methods
• Joint space
• Mapping relation
• Redundant robot

This study puts forward an algebraic method of 7-DoF manipulator redundant arms with strong real-time and a light amount of calculation. It also can map any posture in the workspace. The essence of the algorithm is that by increasing the amount of known quantities. The method establishes numerical mapping relations between the operation space and the joint space, optimizes the singular form and time overhead. Based on this algorithm, 7-Dofmanipulator redundant arm can be controlled in PTP motion control.

• 出版日期2013
• 单位上海大学