An Analytical Solution for a Redundant Manipulator with Seven Degrees of Freedom

An Analytical Solution for a Redundant Manipulator with Seven Degrees of Freedom

In this paper, an analytical solution for the inverse kinematics of a redundant manipulator with seven degrees of freedom and an offset rotation axis is presented. We provide a model for the redundant manipulator and introduce its self-motion. Considering geometric symmetry, sixteen sets of manipula...

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Bibliographic Details
Main Authors:	Takashi Nammoto, Kazuhiro Kosuge
Format:	Article
Language:	English
Published:	Chinese Institute of Automation Engineers (CIAE) & Taiwan Smart Living Space Association (SMART LISA) 2012-12-01
Series:	International Journal of Automation and Smart Technology
Subjects:	Redundant Manipulator Inverse Kinematics Joint Limit Singularity
Online Access:	http://www.ausmt.org/index.php/AUSMT/article/view/172

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