Kinematics of service robot bionics arm

摘要

The analysis of kinematics on a service robot bionics arm is presented and the kinematics inverse solution for 7-DOF arm is gained in two ways;1) degenerating 7-DOF to 6-DOF, 2) dividing the manipulator into arm and wrist. The orientation and the position of spherical wrist are resolved in this way, while the properties of redundancy is kept. Both ways simplify the inverse kinematics with less amount of calculation, and are suitable for real-time control.