Efficient inverse kinematics solution for redundant robots to real-time control

摘要

A new inverse kinematics control scheme for a 7-DOF redundant robot is presented.Based on the geometric feature of redundant robots,inverse kinematics of 7-DOF robot is reduced to kinematics of 4-DOF position.Gradient projection method is used to optimize position for the robot.Then a group of optimized solution can be obtained based on optimizing position solution and close-form solution gotten by analytic method.Results of simulation on a 7-DOF robot show the effectiveness of the scheme.