Analytical inverse kinematic computation for 7-DOF redundant manipulators with joint limits and its application to redundancy resolution

IEEE Transactions on Robotics

Volumn 24, Issue 5, 2008, Pages 1131-1142

  Shimizu, Masayuli ^a,b   Kakuya, Hiromu ^c,d   Yoon, Woo Keum ^a   Kitagaki, Kasei ^a   Kosuge, Kazuhiro ^c  

^a NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY AIST   (Japan)

^b SHIZUOKA UNIVERSITY   (Japan)

^c TOHOKU UNIVERSITY   (Japan)

^d HITACHI LTD   (Japan)

Author keywords

Arm angle; Inverse kinematics; Joint limit; Redundancy resolution; Redundant manipulator

Indexed keywords

KINEMATICS; MANIPULATORS; QUALITY ASSURANCE; REDUNDANCY; REDUNDANT MANIPULATORS; RELIABILITY; SOLUTIONS;

ANALYTICAL METHODOLOGIES; ANALYTICAL METHODS; ARM ANGLE; CLOSED FORMS; FEASIBLE SOLUTIONS; GLOBAL CONFIGURATIONS; INVERSE KINEMATIC SOLUTIONS; INVERSE SOLUTIONS; JOINT LIMIT; JOINT LIMITS; KINEMATIC SIMULATIONS; PARAMETERIZATION METHODS; POSITION DOMAINS; REDUNDANCY RESOLUTION; REDUNDANCY RESOLUTIONS;

INVERSE KINEMATICS;

EID: 56049124793     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2008.2003266     Document Type: Article

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