Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

作     者：Boyu MA Zongwu XIE Zainan JIANG Hong LIU Boyu MA;Zongwu XIE;Zainan JIANG;Hong LIU

作者机构：School of Mechatronics EngineeringHarbin Institute of TechnologyHarbin 150001China State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin 150001China 

出 版 物：《Frontiers of Mechanical Engineering》 (机械工程前沿（英文版）)

年 卷 期：2021年第16卷第3期

页      面：435-450页

核心收录：

学科分类：08[工学] 080203[工学-机械设计及理论] 0802[工学-机械工程] 

基　　金：This work was supported by the Foundation for Innovative Research Groups of the National Natural Science Foundation of China(Grant No.51521003) the Major Research Plan of National Natural Science Foundation of China(Grant No.91848202) 

主　　题：7-DOF redundant manipulator inverse kinematics semi-analytical arm angle link offset 

摘      要：Seven-degree-of-freedom redundant manipulators with link offset have many advantages,including obvious geometric significance and suitability for configuration *** configuration is similar to that of the experimental module manipulator(EMM)in the Chinese Space Station Remote Manipulator ***,finding the analytical solution of an EMM on the basis of arm angle parameterization is *** study proposes a high-precision,semi-analytical inverse method for ***,the analytical inverse kinematic solution is established based on joint angle ***,the analytical inverse kinematic solution for a non-offset spherical-roll-spherical(SRS)redundant manipulator is derived based on arm angle *** approximate solution of the EMM is calculated in accordance with the relationship between the joint angles of the EMM and the SRS ***,the error is corrected using a numerical method through the analytical inverse solution based on joint angle *** selecting the stride and termination condition,the precise inverse solution is computed for the EMM based on arm angle ***,case solutions confirm that this method has high precision,and the arm angle parameterization method is superior to the joint angle parameterization method in terms of parameter selection.