Analytical inverse kinematic solution for modularized 7-DoF redundant manipulators with offsets at shoulder and wrist

@article{Luo2014AnalyticalIK,
  title={Analytical inverse kinematic solution for modularized 7-DoF redundant manipulators with offsets at shoulder and wrist},
  author={Ren C. Luo and Tsung-Wei Lin and Yun-Hsuan Tsai},
  journal={2014 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2014},
  pages={516-521}
}
The objective of this paper is to develop an analytical inverse kinematic solution for a 7-DoF redundant manipulator with offsets at shoulder and wrist. Firstly, the key ingredient is to derive closed-form inverse kinematic solution using different joint as redundancy based on parameterization method. By having these redundant parameters,we obtain different… CONTINUE READING