Analytical Inverse Kinematic Computation for 7-DOF Redundant Manipulators With Joint Limits and Its Application to Redundancy Resolution

• Published in: IEEE transactions on robotics Vol. 24; no. 5; pp. 1131 - 1142
• Main Authors: Shimizu, M., Kakuya, H., Yoon, W.-K., Kitagaki, K., Kosuge, K.
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.10.2008; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Applied sciences; Arm angle; Computation; Computer science; control theory; systems; Control theory. Systems; Exact sciences and technology; Feasibility; Intelligent robots; Intelligent systems; Inverse kinematics; Jacobian matrices; joint limit; Joints; Kinematics; Machine intelligence; Manipulators; Mathematical analysis; Mathematical models; Orbital robotics; Parametrization; redundancy resolution; Redundant; redundant manipulator; Robot arms; Robotics; Service robots; Simulation; Validity; Velocity control; inverse kinematics; joint limit; redundancy resolution; Arm angle; redundant manipulator; Closed loop; Redundancy; Parameterization; Modeling; Global solution; Manipulator; Inverse problem; Exact solution; Kinematics; Feasibility; Arm
• ISSN: 1552-3098; 1941-0468
• DOI: 10.1109/TRO.2008.2003266

This paper proposes an analytical methodology of inverse kinematic computation for 7 DOF redundant manipulators with joint limits. Specifically, the paper focuses on how to obtain all feasible inverse kinematic solutions in the global configuration space where joint movable ranges are limited. First, a closed-form inverse kinematic solution is derived based on a parameterization method. Second, how the joint limits affect the feasibility of the inverse solution is investigated to develop an analytical method for computing feasible solutions under the joint limits. Third, how to apply the method to the redundancy resolution problem is discussed and analytical methods to avoid joint limits are developed in the position domain. Lastly, the validity of the methods is verified by kinematic simulations.