Inverse Kinematics Determination and Trajectory Tracking Algorithm Development of a Robot with 7 Joints

摘要

The analyzed robot has 7 actuators and therefore it is a redundant robot whose position and orientation of the end-effector can generally be set in an infinite number of ways. Determination of joint angles that implement a set position and orientation of the end-effector is difficult for this robot. The paper presents the method of determining analytical formulas for the inverse kinematics problem of the analyzed robot and presents the idea of selection a particular solution. The basic idea of the trajectory tracking algorithm is that a slight change in the position and orientation of the end-effector must also be associated with a slight change in angular positions on individual joints. The paper shows the operation of the tracking algorithm of an exemplary trajectory, both simulation and for real KINOV A® Gen3 Ultra lightweight robot.