Affiliation:
1. Shanghai Institute of Aerospace System Engineering, Shanghai 201109, China
2. Space Structure and Mechanism Technology Laboratory of China Aerospace Science and Technology Group Co., Ltd., Shanghai 201109, China
3. Shanghai Institute of Satellite Equipment, Shanghai 200240, China
Abstract
Compared with non-redundant manipulators, the self-motion of 7-DOF redundant manipulators results in an infinite number of inverse kinematics solutions for a desired end-effector pose. This paper proposes an efficient and accurate analytical solution for inverse kinematics of SSRMS-type redundant manipulators. This solution is applicable to SRS-type manipulators with the same configuration. The proposed method involves introducing an alignment constraint to restrain the self-motion and to decompose the spatial inverse kinematics problem into three independent planar subproblems simultaneously. The resulting geometric equations depend on the part of the joint angles, respectively. These equations are then computed recursively and efficiently using the sequences of (θ1,θ7), (θ2,θ6), and (θ3,θ4,θ5), generating up to sixteen sets of solutions for a given desired end-effector pose. Additionally, two complementary methods are proposed for overcoming the possible singular configuration and judging unsolvable poses. Finally, numerical simulations are conducted to investigate the performance of the proposed approach in terms of average calculation time, success rate, average position error, and the ability to plan a trajectory with singular configurations.
Funder
Civil Aerospace Technology Research Project
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
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