Singh, GKClaassens, J2011-04-112011-04-112010-10Singh, 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 7978-1-424-46675-7http://hdl.handle.net/10204/4944IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 18-22 October 2010This 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.enAnalytical inverse kinematics7DoF manipulatorRedundant manipulationCartesian spaceInverse kinematicsRemote sensingIntelligent robotsIntelligent systemsConference PresentationSingh, G., & Claassens, J. (2010). Analytical solution for the inverse kinematics of a redundant 7DoF manipulator with link offsets. http://hdl.handle.net/10204/4944Singh, GK, and J Claassens. "Analytical solution for the inverse kinematics of a redundant 7DoF manipulator with link offsets." (2010): http://hdl.handle.net/10204/4944Singh G, Claassens J, Analytical solution for the inverse kinematics of a redundant 7DoF manipulator with link offsets; 2010. http://hdl.handle.net/10204/4944 .TY - Conference Presentation AU - Singh, GK AU - Claassens, J AB - 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. DA - 2010-10 DB - ResearchSpace DP - CSIR KW - Analytical inverse kinematics KW - 7DoF manipulator KW - Redundant manipulation KW - Cartesian space KW - Inverse kinematics KW - Remote sensing KW - Intelligent robots KW - Intelligent systems LK - https://researchspace.csir.co.za PY - 2010 SM - 978-1-424-46675-7 T1 - Analytical solution for the inverse kinematics of a redundant 7DoF manipulator with link offsets TI - Analytical solution for the inverse kinematics of a redundant 7DoF manipulator with link offsets UR - http://hdl.handle.net/10204/4944 ER -