Redundancy parameterization and inverse kinematics of 7-DOF revolute manipulators

Seven-degree-of-freedom (DOF) robot arms have one redundant DOF for obstacle and singularity avoidance which must be parameterized to fully specify the joint angles for a given end effector pose. Commonly used 7-DOF revolute (7R) industrial manipulators from ABB, Motoman, and KUKA and space manipula...

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Bibliographic Details
Published in:	Mechanism and machine theory Vol. 204; p. 105824
Main Authors:	Elias, Alexander J., Wen, John T.
Format:	Journal Article
Language:	English
Published:	Goddard Space Flight Center Elsevier Ltd 01.12.2024 Elsevier
Subjects:	Electronics and Electrical Engineering Humanoid robot systems Industrial robots Kinematics Redundant robots Space robotics and automation Telerobotics and teleoperation Industrial robots Humanoid robot systems Space robotics and automation Redundant robots Kinematics Telerobotics and teleoperation Redundant Robots Telerobotics And Teleoperation Space Robots And Automation Industrial Robots
ISSN:	0094-114X
Online Access:	Get full text
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