A Synthetic Inverse Kinematic Algorithm for 7-DOF Redundant Manipulator

摘要

This paper proposes a synthetic inverse kinematic algorithm for computing numerical solutions of 7-DOF redundant manipulators designed and developed by our laboratory. The proposed algorithm is based on a combination of the damped least-squares method and the Newton- Raphson iteration method. This combined algorithm is not sensitive to the initial approximation and the singular configurations of the manipulator. The most importance is that this method can reduce the position and orientation error of the manipulator end-effector by an order of magnitude. To verify the effectiveness of the proposed algorithm, a straight line trajectory is used for simulation in the Robotics Toolbox for MATLAB. Finally, the simulation results prove the accuracy of the proposed method.