The Inverse Kinematics Algorithm of Redundant DOF Robot

Yong Wang; L. Wang

doi:10.4028/www.scientific.net/MSF.471-472.592

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HomeMaterials Science ForumMaterials Science Forum Vols. 471-472The Inverse Kinematics Algorithm of Redundant DOF...

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.