A closed-loop framework for inverse kinematics of the 7-DOF manipulator
文献类型：会议论文
| 作者 | Du HB(杜惠斌) ; Zhao YW(赵忆文); Li XG(李晓光); Han JD(韩建达); Wang Z(王争); Song GL(宋国立)
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| 出版日期 | 2016 |
| 会议名称 | 2016 2nd International Conference on Control Science and Systems Engineering |
| 会议日期 | July 27-29, 2016 |
| 会议地点 | Singapore |
| 关键词 | 7-DOF manipulator inverse kinematics closed-loop framework |
| 页码 | 237-241 |
| 中文摘要 | The 7-DOF redundant manipulator in greatly improves the obstacle/singularity avoidance capability and operational flexibility. Meanwhile, its inverse kinematics problem would be much difficult since 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. Simulations show that this method has high commonality, no special structure of robot required, and also has improved computational efficiency and reliability. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | PROCEEDINGS OF 2016 2ND INTERNATIONAL CONFERENCE ON CONTROL SCIENCE AND SYSTEMS ENGINEERING (ICCSSE)
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-4673-9872-5 |
| WOS记录号 | WOS:000391313300050 |
| 源URL | [http://ir.sia.cn/handle/173321/19546]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Du HB,Zhao YW,Li XG,et al. A closed-loop framework for inverse kinematics of the 7-DOF manipulator[C]. 见:2016 2nd International Conference on Control Science and Systems Engineering. Singapore. July 27-29, 2016. |
入库方式： OAI收割
来源：沈阳自动化研究所
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