Inverse Solution and Optimal Concept Rethink from Human Operation to Industrial Redundant Manipulator

Mei Ling Wang; Min Zhou Luo; Xin Lin

doi:10.4028/www.scientific.net/AMM.541-542.1140

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 541-542Inverse Solution and Optimal Concept Rethink from...

Inverse Solution and Optimal Concept Rethink from Human Operation to Industrial Redundant Manipulator

Abstract:

More and more dual arm robots with redundant manipulator are introduced in industrial fields. Here we focus on this special structure with 7-DOF redundant manipulator, an exhibit analytical and optimal concept was proposed. The formula derivations of inverse kinematics showed that when the redundant joint angle has been obtained, the remaining six joint angles can be derived analytically, and there are eight sets of inverse solution for one giving redundant joint angle. Reversed thinking the joint movement habits, patterns, and frequency of human arm operations, an optimal concept was presented to gain a real time computational efficiency of a direct inverse solution while also achieving the purpose of application.

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Periodical:

Applied Mechanics and Materials (Volumes 541-542)

Pages:

1140-1145

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.541-542.1140

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Online since:

March 2014

Authors:

Mei Ling Wang*, Min Zhou Luo, Xin Lin

Keywords:

Human Operation, Industrial Redundant Manipulator, Inverse Kinematics

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