Inverse Kinematics Algorithm for 7-DOF Manipulator with Offset and its Application

摘要

The main inverse kinematics algorithms for the conventional 7-DOF robotic arm are analytical and numerical methods based on the optimal solution of the Jacobi matrix. The numerical method based on the optimal solution of the Jacobian matrix has no special requirements for the configuration of the manipulator, but the inverse kinematics solution of the 7-DOF manipulator with redundant degrees of freedom has the disadvantages of large amount of calculation and can only find a single solution. Compared with the conventional analytical method, the geometric relationship solution has the characteristics of fast speed and many solution sets, but the conventional analytical method is not suitable for the manipulator configuration with offset in this paper. Therefore, this paper proposes a new inverse kinematics method combining the advantages of the two algorithms, which solves the problem of solving the offset arm. In the solution process, joint and position constraints are added to ensure the accuracy and effectiveness of the solution.