An Efficient and Accurate Inverse Kinematics for 7-DOF Redundant Manipulators Based on a Hybrid of Analytical and Numerical Method

An Efficient and Accurate Inverse Kinematics for 7-DOF Redundant Manipulators Based on a Hybrid of Analytical and Numerical Method

This paper proposes an efficient and accuracy inverse kinematic algorithm for 7-DOF redundant manipulators with obstacles avoidance and singularities avoidance based on the hybrid of analytical and numerical method (IK-HAN). Specially, the paper focuses on how to solve the inverse kinematics problem...

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Bibliographic Details
Main Authors: Minghe Jin, Qiang Liu, Bin Wang, Hong Liu
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Elbow orientation
obstacles avoidance
redundant manipulators
real-time inverse kinematics
singularities avoidance
Online Access:https://ieeexplore.ieee.org/document/8960367/

Internet

https://ieeexplore.ieee.org/document/8960367/

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