Position-based kinematics for 7-DoF serial manipulators with global configuration control, joint limit and singularity avoidance

This paper presents a novel analytic method to uniquely solve inverse kinematics of 7 degrees-of-freedom manipulators while avoiding joint limits and singularities. Two auxiliary parameters are introduced to deal with the self-motion manifolds: the global configuration (GC), which specifies the bran...

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Bibliographic Details
Main Author: Faria, Carlos (author)
Other Authors: Ferreira, Flora (author), Erlhagen, Wolfram (author), Monteiro, Sérgio (author), Bicho, Estela (author)
Format: article
Language:eng
Published: 2018
Subjects:
Analytic Inverse Kinematics
Configuration Control
Joint Limit Avoidance
Singularity Avoidance
Engenharia e Tecnologia::Engenharia Mecânica
Science & Technology
Online Access:http://hdl.handle.net/1822/48313
Country:Portugal
Oai:oai:repositorium.sdum.uminho.pt:1822/48313

Internet

http://hdl.handle.net/1822/48313

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