A Closed-Loop Framework for the Inverse Kinematics of the 7 Degrees of Freedom Manipulator

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	A Closed-Loop Framework for the Inverse Kinematics of the 7 Degrees of Freedom Manipulator
	Song GL(宋国立)1,3,5,6; Su S(苏顺)1,4,6; Li YL(李英立)1,4,6; Zhao XG(赵新刚)1,6; Du HB(杜惠斌)1,6; Han JD(韩建达)1,2,6; Zhao YW(赵忆文)1,6
刊名	Robotica
	2021
卷号	39 期号:4 页码:572-581
关键词	7-DOF manipulator Redundant manipulator UKF Inverse kinematics Closed-loop framework
ISSN号	0263-5747
产权排序	1
英文摘要	The 7 degrees of freedom (DOF) redundant manipulator greatly improves obstacle/singularity avoidance capability and operational flexibility. However, the inverse kinematics problem of this manipulator is very difficult to solve because it has an infinite number of solutions. This paper uses a new numerical sequence processing method with a closed-loop framework to solve the inverse kinematics of the 7-DOF redundant manipulator. Simulation and experiment show that this method has high commonality. No special structure of the robot is required, and this method has improved computational efficiency and reliability.
资助项目	National Key R&D Program of China[2017YFB1302802] ; National Natural Science Foundation of China[61703394] ; Special Fund for Highlevel Talents
WOS研究方向	Robotics
语种	英语
WOS记录号	WOS:000629163200002
资助机构	National Key R&D Program of China (Grant No. 2017YFB1302802) ; National Natural Science Foundation of China (Grant No. 61703394 & 61821005) ; Special Fund for High-level Talents (Shizhen Zhong Team) of the People's Government of Luzhou-Southwestern Medical University
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/27907]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Zhao YW(赵忆文)
作者单位	1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China 2.College of Artificial Intelligence, Nankai University, Tianjing 300071, China 3.Liaoning Medical Surgery and Rehabilitation, Robot Engineering Research Center, Shenyang 110134, China 4.University of Chinese Academy of Sciences, Beijing 100049, China 5.Department of Orthopaedics, Affifiliated Traditional Chinese Medicine Hospital, Southwest Medical University, Luzhou 646000, China 6.State Key Laboratory of Rdobotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式 GB/T 7714	Song GL,Su S,Li YL,et al. A Closed-Loop Framework for the Inverse Kinematics of the 7 Degrees of Freedom Manipulator[J]. Robotica,2021,39(4):572-581.
APA	Song GL.,Su S.,Li YL.,Zhao XG.,Du HB.,...&Zhao YW.(2021).A Closed-Loop Framework for the Inverse Kinematics of the 7 Degrees of Freedom Manipulator.Robotica,39(4),572-581.
MLA	Song GL,et al."A Closed-Loop Framework for the Inverse Kinematics of the 7 Degrees of Freedom Manipulator".Robotica 39.4(2021):572-581.