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Inverse Kinematics of a 7-DOF Spraying Robot with 4R 3-DOF Non-spherical Wrist

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Abstract

In this paper, an Inverse Kinematics (IK) algorithm combining the analytical method and the numerical one is proposed to solve the IK problem of a 7-DOF spraying robot with 4R 3-DOF non-spherical wrist. Firstly, the 7-DOF spraying robot is transformed into a 7-DOF robot with 3R spherical wrist and the arm angle is used as the redundancy parameter. The approximate IK solution is calculated analytically using offset angle method by means of approximation. Secondly, the approximate solution is taken as the initial value of the iterative algorithm and by updating the joint angles through the damped least-square method with augmented Jacobian matrix, the final exact solution is obtained after a few iterations. Three simulation experiments show that the proposed algorithm not only has high computational efficiency and accuracy, but also can obtain multiple solutions and show the self-motion characteristics of the 7-DOF robot. The novel algorithm may be implemented in real-time control of the 7-DOF spraying robot.

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Funding

This study was supported by Tianjin Science and Technology Committee (Grant No. 15ZXZNGX00200).

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Authors and Affiliations

  1. School of Mechanical Engineering, Tianjin University, Tianjin, 300350, China

    Yangyang Wang, Chen Zhao, Peilun Zhang, Pan Li & Hao Liu

  2. Aeronautical Engineering College, Civil Aviation University of China, Tianjin, 300300, China

    Xuhao Wang

Authors
  1. Yangyang Wang
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  2. Chen Zhao
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  3. Xuhao Wang
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  4. Peilun Zhang
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  5. Pan Li
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  6. Hao Liu
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Contributions

Yangyang Wang conceived the idea, performed the research, wrote and revised the manuscript. Chen Zhao refined the idea, reviewed and edited the original draft. Xuhao Wang shared his research on 7R 6-DOF spraying robot and provided some materials about it. Peilun Zhang discussed the framework of the manuscript and put forward some suggestions. Pan Li helped to perform the numerical simulations. Hao Liu helped to make some charts of the manuscript. All authors discussed the results and revised the manuscript.

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Correspondence to Chen Zhao or Xuhao Wang.

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Wang, Y., Zhao, C., Wang, X. et al. Inverse Kinematics of a 7-DOF Spraying Robot with 4R 3-DOF Non-spherical Wrist. J Intell Robot Syst 101, 68 (2021). https://doi.org/10.1007/s10846-021-01338-w

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