Inverse Kinematical Solving and Trajectory Planning of Redundant Manipulator

In order to solve the problem of multiple solutions in inverse kinematics of redundant manipulator，taking the 7DOF-S universal manipulator of Jaco2 as the object，an inverse kinematics algorithm combined with analysis and geometry based on coordinate transformation is proposed. According to the geome...

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Bibliographic Details
Published in:	Jixie chuandong
Main Authors:	Mingsong Zhang, Jinzhi Xiao, Enheng Wang, Qiao Zhuang
Format:	Article
Language:	Chinese
Published:	Editorial Office of Journal of Mechanical Transmission 2021-06-01
Subjects:	Redundant manipulator Inverse kinematics Trajectory planning
Online Access:	http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.06.011

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