An Efficient Inverse Kinematic Strategy for the 7-DOF Offset Space Manipulator with Arm Angle Parameterization

Ma, Boyu; Xie, Zongwu; Jiang, Zainan; Liu, Yang; Wang, Zhengpu

doi:10.1109/icma54519.2022.9856247

Cited by 4 publications

(1 citation statement)

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“…The above methods verify the feasibility of using redundant parameter methods to find the analytical inverse kinematics solutions of redundant manipulators. In recent years, the redundant parameters of redundant manipulators have received more and more attention in the research field of manipulator trajectory planning and obstacle avoidance methods [23][24][25][26][27], but determining the reachable range of redundant parameters using quantitative mathematical analysis is still a complex problem for a manipulator with a complex link structure and complex obstacles in its workspace, which is still a problem to be solved.…”

Section: Related Workmentioning

confidence: 99%

Obstacle avoidance method for fixed trajectory of a seven-degree-of-freedom manipulator

Quan

Wang²,

Zhao³

et al. 2023

Robotica

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This paper, based on the idea of redundancy angle discretisation, proposes an obstacle avoidance method for the fixed tip pose trajectory of a seven degrees-of-freedom (7-DOF) modular manipulator. First, for the case in which a specific redundancy angle is given, the analytical solutions of the redundant manipulator left 6-DOF subchain are found. Then, through the discretisation of the redundancy angle, the concept of the self-motion space of the tip pose is proposed and is extended to the concept of the self-motion space of the trajectory. Based on this discrete space, a path-planning algorithm is proposed to help select the appropriate redundancy angles to obtain the collision-free solution set of the fixed Cartesian trajectory. However, due to the large fluctuation of the obtained path, a path optimisation method based on the path cost is proposed to smooth the path, and the continuous and collision-free solution set of the manipulator tip’s trajectory is obtained. The method proposed in this paper provides a new thought for the problem of collision-free solution set planning for the Cartesian trajectory of a 7-DOF manipulator and it has great application potential in working environments with high accuracy requirements for the trajectory.

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