A New Analytical Inverse Kinematics Model for Seven Degrees of Freedom Redundant Manipulators

摘要

As the seven degrees of freedom redundant manipulator has a superior performance in wide fields of applications, this paper proposes a new analytical inverse kinematics model for seven degrees of freedom redundant manipulators. Specifically, it focuses on how to derive equations for the feasible space of the endpoint of each joint and correspondingly the feasible space of each arm-angle given the endpoint of the manipulator, which can be used for the optimal path planning of robotic obstacle avoidance. Firstly, the spatial structure of the manipulator is decoupled using the space geometry and parameterization method. Secondly, the structure model of each part after decoupled and the feasible space of the endpoint of each joint are obtained. Then, the feasible space is applied to obtain the feasible space of the arm-angle. Finally, the validity of the method is verified by simulations.