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Analytical solution for the inverse kinematics of a redundant 7DoF manipulator with link offsets

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dc.contributor.author Singh, GK
dc.contributor.author Claassens, J
dc.date.accessioned 2011-04-11T07:54:31Z
dc.date.available 2011-04-11T07:54:31Z
dc.date.issued 2010-10
dc.identifier.citation Singh, GK and Claassens, J. 2010. Analytical solution for the inverse kinematics of a redundant 7DoF manipulator with link offsets. IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 18-22 October 2010, pp 7 en_US
dc.identifier.isbn 978-1-424-46675-7
dc.identifier.uri http://hdl.handle.net/10204/4944
dc.description IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 18-22 October 2010 en_US
dc.description.abstract This work addresses the inverse kinematics problem for the 7 Degrees of Freedom Barrett Whole Arm Manipulator with link offsets. The presence of link offsets gives rise to the possibility of the in-elbow & out-elbow poses for a given end-effector pose and is discussed in the paper. A parametric solution for all possible geometric poses is generated for a desired end-effector pose (position and orientation). The set of possible geometric poses are completely defined by three circles in the Cartesian space. A method of computing the jointvariables for any geometric pose is presented. An analytical method of identifying a set of feasible poses for some join-tangle constraints is also addressed. en_US
dc.language.iso en en_US
dc.relation.ispartofseries Workflow;6153
dc.subject Analytical inverse kinematics en_US
dc.subject 7DoF manipulator en_US
dc.subject Redundant manipulation en_US
dc.subject Cartesian space en_US
dc.subject Inverse kinematics en_US
dc.subject Remote sensing en_US
dc.subject Intelligent robots en_US
dc.subject Intelligent systems en_US
dc.title Analytical solution for the inverse kinematics of a redundant 7DoF manipulator with link offsets en_US
dc.type Conference Presentation en_US
dc.identifier.apacitation Singh, G., & Claassens, J. (2010). Analytical solution for the inverse kinematics of a redundant 7DoF manipulator with link offsets. http://hdl.handle.net/10204/4944 en_ZA
dc.identifier.chicagocitation Singh, GK, and J Claassens. "Analytical solution for the inverse kinematics of a redundant 7DoF manipulator with link offsets." (2010): http://hdl.handle.net/10204/4944 en_ZA
dc.identifier.vancouvercitation Singh G, Claassens J, Analytical solution for the inverse kinematics of a redundant 7DoF manipulator with link offsets; 2010. http://hdl.handle.net/10204/4944 . en_ZA
dc.identifier.ris TY - Conference Presentation AU - Singh, GK AU - Claassens, J AB - This work addresses the inverse kinematics problem for the 7 Degrees of Freedom Barrett Whole Arm Manipulator with link offsets. The presence of link offsets gives rise to the possibility of the in-elbow & out-elbow poses for a given end-effector pose and is discussed in the paper. A parametric solution for all possible geometric poses is generated for a desired end-effector pose (position and orientation). The set of possible geometric poses are completely defined by three circles in the Cartesian space. A method of computing the jointvariables for any geometric pose is presented. An analytical method of identifying a set of feasible poses for some join-tangle constraints is also addressed. DA - 2010-10 DB - ResearchSpace DP - CSIR KW - Analytical inverse kinematics KW - 7DoF manipulator KW - Redundant manipulation KW - Cartesian space KW - Inverse kinematics KW - Remote sensing KW - Intelligent robots KW - Intelligent systems LK - https://researchspace.csir.co.za PY - 2010 SM - 978-1-424-46675-7 T1 - Analytical solution for the inverse kinematics of a redundant 7DoF manipulator with link offsets TI - Analytical solution for the inverse kinematics of a redundant 7DoF manipulator with link offsets UR - http://hdl.handle.net/10204/4944 ER - en_ZA


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