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Please use this identifier to cite or link to this item: http://hdl.handle.net/10204/4944

Title: Analytical solution for the inverse kinematics of a redundant 7DoF manipulator with link offsets
Authors: Singh, GK
Claassens, J
Keywords: Analytical inverse kinematics
7DoF manipulator
Redundant manipulation
Cartesian space
Inverse kinematics
Remote sensing
Intelligent robots
Intelligent systems
Issue Date: Oct-2010
Citation: Singh, GK and Claassens, J. 2010. Analytical solution for the inverse kinematics of a redundant 7DoF manipulator with link offsets. IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 18-22 October 2010, pp 7
Series/Report no.: Workflow;6153
Abstract: This work addresses the inverse kinematics problem for the 7 Degrees of Freedom Barrett Whole Arm Manipulator with link offsets. The presence of link offsets gives rise to the possibility of the in-elbow & out-elbow poses for a given end-effector pose and is discussed in the paper. A parametric solution for all possible geometric poses is generated for a desired end-effector pose (position and orientation). The set of possible geometric poses are completely defined by three circles in the Cartesian space. A method of computing the jointvariables for any geometric pose is presented. An analytical method of identifying a set of feasible poses for some join-tangle constraints is also addressed.
Description: IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 18-22 October 2010
URI: http://hdl.handle.net/10204/4944
ISBN: 978-1-424-46675-7
Appears in Collections:Mobile intelligent autonomous systems
General science, engineering & technology

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