The Inverse Kinematics Algorithm of Redundant DOF Robot

Abstract:

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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 and 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:

$35.00

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