A Study on the Inverse Kinematics of 7-DOF Manipulators
碩士 === 國立臺灣科技大學 === 機械工程系 === 97 === Redundant manipulators have extra degree-of-freedoms to execute some special tasks. For redundant manipulators, numerical or optimization methods are commonly used to optimize kinematic or dynamic properties. It takes time to obtain optimum solutions, so the meth...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2009
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| Online Access: | http://ndltd.ncl.edu.tw/handle/99950921913264026895 |
| Summary: | 碩士 === 國立臺灣科技大學 === 機械工程系 === 97 === Redundant manipulators have extra degree-of-freedoms to execute some special tasks. For redundant manipulators, numerical or optimization methods are commonly used to optimize kinematic or dynamic properties. It takes time to obtain optimum solutions, so the methods cannot be directly employed on the trajectory planning for the on-line control of manipulators. This thesis proposes methods to solve the inverse kinematics of serial redundant manipulators. The solutions can be easily obtained by solving quadratics. Simplified methods to find the inverse kinematic solutions of 6-DOF manipulators are first summarized and then employed in the inverse kinematics of redundant manipulators. How to develop solutions to stay away from singularities is also investigated. The proposed methods can be utilized for the on-line control of manipulators.
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