Motion study of a redundant 7-DOF operation robot

This paper presents a new numerical method for optimizing the motion of a 7-DOF robot. To improve efficiency and reduce computational complexity, the conventional Jacobian matrix is abandoned here. The key point is to find out the most suitable redundancy joint from the seven joints and to reduce th...

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Bibliographic Details
Main Authors: Sichen Yuan, Haiqing Zhang, Nei Wang, Nan luan
Format: Conference Proceeding
Language:English
Subjects:
7-DOF robot
Jacobian matrices
Joints
Kinematics
Manipulators
numerical motion optimization
Optimization
Redundancy
redundancy joint
singularity avoidance
Online Access:Request full text
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Description
Summary:This paper presents a new numerical method for optimizing the motion of a 7-DOF robot. To improve efficiency and reduce computational complexity, the conventional Jacobian matrix is abandoned here. The key point is to find out the most suitable redundancy joint from the seven joints and to reduce the maximum velocity of the seven joints by modifying redundancy joint angle. Simulations show the efficiency and the high computational speed of this method.
DOI:10.1109/ICECENG.2011.6057382