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Practical analytical inverse kinematic approach for 7-DOF space manipulators with joint and attitude limits

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Abstract

In this study, we propose a practical approach for calculating the analytical inverse kinematic solution for a seven-degrees of freedom (7-DOF) space manipulator with joint and attitude limits. Instead of utilizing traditional velocity-based approaches that limit the ranges of joints by calculating the velocity-level Jacobian matrix, we propose a position-based approach for evaluating the ranges of feasible inverse kinematic solutions. We then search for the optimal solution, which is estimated based on the disturbance that acts on the base of the manipulator to obtain the final solution. First, the concept of the redundancy of manipulators is defined and each joint is parameterized by the redundancy. Second, how the joint limits affect this redundancy is discussed. Third, a practical approach (include the objective function that the author needs to minimize) is proposed for dealing with the inverse kinematic problem of 7-DOF manipulators. Finally, the validity of this approach is verified by numerical simulation.

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Acknowledgments

This work is supported by the Natural Science Foundation of Liaoning Province (No. 2013020007), the Program for Science and Technology Research in New Jinzhou District (No. 2013-GX1-015, KJCX-ZTPY-2014-0012).

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Authors and Affiliations

  1. Key Laboratory of Advanced Design and Intelligent Computing, Ministry of Education, Dalian University, Dalian, 116622, China

    Dongsheng Zhou, Lu Ji & Qiang Zhang

  2. School of Mechanical Engineering, Dalian University of Technology, Dalian, 116024, China

    Xiaopeng Wei

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  1. Dongsheng Zhou
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  2. Lu Ji
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  3. Qiang Zhang
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  4. Xiaopeng Wei
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Correspondence to Dongsheng Zhou.

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Zhou, D., Ji, L., Zhang, Q. et al. Practical analytical inverse kinematic approach for 7-DOF space manipulators with joint and attitude limits. Intel Serv Robotics 8, 215–224 (2015). https://doi.org/10.1007/s11370-015-0180-3

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  • DOI: https://doi.org/10.1007/s11370-015-0180-3

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