Paper Title:
The Inverse Kinematics Algorithm of Redundant DOF Robot
  Abstract

A new analytic model for the inverse kinematics of redundant robot is developed based on optimization measure that is defined as a criterion to determine the optimization adaptability. A smoothly continuous function of optimization measure is derived. The redundant seven-DOF robot is kinematically simulated using MATLAB software. Results show that self-motion of joints can vary continuously and the joint angular velocity can be controlled within the smaller range by using the new model for the inverse kinematics of redundant robot.

  Info
Periodical
Materials Science Forum (Volumes 471-472)
Edited by
Xing Ai, Jianfeng Li and Chuanzhen Huang
Pages
592-595
DOI
10.4028/www.scientific.net/MSF.471-472.592
Citation
Y. Wang, L. Wang, "The Inverse Kinematics Algorithm of Redundant DOF Robot", Materials Science Forum, Vols. 471-472, pp. 592-595, 2004
Online since
December 2004
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Price
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