دانلود رایگان مقاله راه حل سینماتیک معکوس رابطه بسته برای بازوی زائد ربات شبیه انسان

Abstract

An inverse kinematics solution of a redundant 7R serial chain that mimics the human arm is presented. Such manipulators are composed of two spherical wrists with one revolute joint in between. In the case of non-redundant manipulators the inverse kinematics yields a discrete set of solutions for the joint axes to reach a given end effector position and orientation. For redundant arms, however, the solution consists of a one parameter set. In contrast to other solutions to this problem herein a closed form solution is given without the need of specifying the design, task nor the redundant parameter in the solution process. That gives the possibility to use the degree of freedom provided by the additional joint for different applications, such as avoiding singularities, joint limits and collisions or to apply an optimization algorithm to achieve, for example, minimal joint velocities or joint movements.

5. Conclusion

A new and efficient algorithm for the solution of the inverse kinematics problem of a redundant anthropomorphic robot arm has been revealed herein. It yields a complete closed form solution such that the design and, much more important,the end effector pose remains general. This provides the opportunity to achieve joint functions depending on the redundancy and motion parameter of the end effector. This feature can be used in multiple applications, for example in collision avoidance, in motion planning for preventing to run into joint limits or to optimize motion of the mechanism for given paths. This article only provides the theoretical tool for solving the inverse kinematics problem of the robot arm. This algorithm will be used in an application involving two such SRS robots executing intricate planned tasks so as to exploit the capabilities offered by redundancy.