An analytical inverse kinematics solution with joint limits avoidance of 7-DOF anthropomorphic manipulators without offset

Tian, Xinyang; Xu, Qinhuan; Zhan, Qiang

doi:10.1016/j.jfranklin.2020.11.020

Cited by 36 publications

(21 citation statements)

References 11 publications

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“…en, the elbow twist angle is adopted to solve the redundancy resolution of human arm. Tian et al [10] proposed an analytical IK method for 7-DOF anthropomorphic manipulators. ey realized the combined control of global arm configuration manifolds and local selfmotion without offset by defining a new arm reference plane for 7-DOF anthropomorphic manipulators.…”

Section: Related Workmentioning

confidence: 99%

Extending FABRIK with Obstacle Avoidance for Solving the Inverse Kinematics Problem

Tao

Yang

2021

Journal of Robotics

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Inverse kinematics (IK) has been extensively applied in the areas of robotics, computer animation, ergonomics, and gaming. Typically, IK determines the joint configurations of a robot model and achieves a desired end-effector position in robotics. Since forward and backward teaching inverse kinematics (FABRIK) is a forward and backward iterative method that finds updated joint positions by locating a point on a line instead of using angle rotations or matrices, it has the advantages of fast convergence, low computational cost, and visualizing realistic poses. However, the manipulators usually work in a complex environment. So, the kinematic chains are easy to produce the interference with their surrounding scenarios. To resolve the above mentioned problem, a two-step obstacle avoidance technology is proposed to extend the basic FABRIK in this study. The first step is a heuristic method that locates the updated linkage bar, the root joint, and the target position in a line, so that the interference can be eliminated in most cases. In the second step, multiple random rotation strategies are adopted to eliminate the interference that has not been eliminated in the first step. Experimental results have shown that the extending FABRIK has the obstacle avoidance ability.

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Section: Related Workmentioning

confidence: 99%

Extending FABRIK with Obstacle Avoidance for Solving the Inverse Kinematics Problem

Tao

Yang

2021

Journal of Robotics

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“…At the same time, there are intelligent algorithms for solving inverse kinematic problems, such as neural networks, 17 support vector machines, 18 and particle swarm optimization algorithm. 19,20 However, these algorithms are usually used to solve inverse kinematic problems off-line. And as the number of iterations becomes progressively larger, the accumulated error will gradually become larger.…”

Section: Introductionmentioning

confidence: 99%

Kinematic analysis of seven-degree-of-freedom exoskeleton rehabilitation manipulator

Tang

Sheng

et al. 2022

International Journal of Advanced Robotic Systems

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This article analyzes the forward kinematics and inverse kinematics of the seven-degree-of-freedom exoskeleton rehabilitation manipulator. Denavit–Hartenberg coordinates are used to model the forward kinematics, and the working space of the end effector of the manipulator is analyzed according to the joint motion range of the human arm. In the inverse solution of the seven-degree-of-freedom exoskeleton rehabilitation manipulator, the self-motion angle [Formula: see text] of the elbow is used. The minimum energy standard is used to calculate the self-motion angle [Formula: see text]. The minimum energy mainly includes the gravitational potential energy of the upper limbs and the elastic potential energy stored in the muscles. Thus, the inverse solution formula of the seven-degree-of-freedom exoskeleton rehabilitation manipulator is derived. When calculating the angle [Formula: see text], an auxiliary parameter is introduced to solve the self-motion manifold of the manipulator. Finally, the theoretical derivation and verification of the forward and inverse kinematics are carried out in this article, and through analysis of the results, it is concluded that the inverse kinematics of this article has some limitations but the theory of inverse kinematics is feasible.

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“…Therefore, inverse kinematics is required to convert a point in task space to a corresponding point in joint space. Inverse kinematics methods can be divided into two categories: analytical methods for obtaining solutions by geometrical consideration or algebraic transformation [1][2][3], and numerical methods that perform iterative calculations [4]. If the robot mechanism meets certain conditions, the inverse kinematics problem can be solved analytically; otherwise, numerical methods are used.…”

Section: Introductionmentioning

confidence: 99%

Numerical method for inverse kinematics using an extended angle-axis vector to avoid deadlock caused by joint limits*

Sekiguchi

Takesue

2021

Advanced Robotics

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An analytical inverse kinematics solution with joint limits avoidance of 7-DOF anthropomorphic manipulators without offset

Cited by 36 publications

References 11 publications

Extending FABRIK with Obstacle Avoidance for Solving the Inverse Kinematics Problem

Extending FABRIK with Obstacle Avoidance for Solving the Inverse Kinematics Problem

Kinematic analysis of seven-degree-of-freedom exoskeleton rehabilitation manipulator

Numerical method for inverse kinematics using an extended angle-axis vector to avoid deadlock caused by joint limits*

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