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Inverse Kinematics of a 7-DOF Spray-Painting Robot with a Telescopic Forearm

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Intelligent Robotics and Applications (ICIRA 2021)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13015))

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Abstract

Inverse kinematics is an important issue for redundant robot. This paper studies the inverse kinematics of a 7 degree of freedom (7-DOF) spray-painting robot with a telescopic forearm. The mapping relationship between the joint and the end-effector is studied and a method to find the solution of the inverse solution is proposed. The position of the end point of the painting gun are affected by five joints and the position of the two joints from the five joints are taken as independent variables. Except the two joints with their position taken as independent variables, the analytical solutions of other five joints are written as function of the two independent variables. An objective function that considers the joint limit is presented to optimize the two independent variables. The proposed method is compared with the direct Jacobian iteration method.

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Acknowledgments

This work was supported by the National Natural Science Foundation of China (Grant No. 51975321).

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Authors and Affiliations

  1. State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China

    Yutian Wang, Jiahao Qiu, Jun Wu & Jinsong Wang

  2. Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipment and Control, Beijing, 100084, China

    Yutian Wang, Jiahao Qiu, Jun Wu & Jinsong Wang

Authors
  1. Yutian Wang
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  2. Jiahao Qiu
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  3. Jun Wu
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  4. Jinsong Wang
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Corresponding author

Correspondence to Jun Wu .

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Editors and Affiliations

  1. Tsinghua University, Beijing, China

    Xin-Jun Liu

  2. Tsinghua University, Beijing, China

    Zhenguo Nie

  3. Beihang University, Beijing, China

    Jingjun Yu

  4. Tsinghua University, Beijing, China

    Fugui Xie

  5. Shandong University, Shandong, China

    Rui Song

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Wang, Y., Qiu, J., Wu, J., Wang, J. (2021). Inverse Kinematics of a 7-DOF Spray-Painting Robot with a Telescopic Forearm. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13015. Springer, Cham. https://doi.org/10.1007/978-3-030-89134-3_61

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  • DOI: https://doi.org/10.1007/978-3-030-89134-3_61

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-89133-6

  • Online ISBN: 978-3-030-89134-3

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