An algorithm of inverse kinematics for manipulator with redundancy

摘要

A novel method to solve the inverse kinematics for manipulator with redundancy was proposed in this paper. First, Based on the complexity of space configuration and self-motion, 7 degrees of freedom (DoF) was divided into two modular units; The concepts of “anchor point” and “virtual link” are introduced to build the parametric model for robot arm; The workspace is analyzed based on the consideration of joints' boundary condition by Monte Carlo method; Finally, the simulation was implemented on a 7-DoF manipulator and the simulation results verify the feasibility and effectiveness of the proposed method.