A Closed-Form Solution for the Inverse Kinematics of the 2n-DOF Hyper-Redundant Manipulator Based on General Spherical Joint

A General Numerical Method for Hyper-Redundant Manipulator Inverse Kinematics

“!Iyper-reduiidaiiI” robots have a very large or anfinile degree of k inemat ic redundancy. Thas paper zntrodaces a n e w generalized resolved rate technique for soli) I 11 g h ype rredun da n t m a n apulat or inverse kzne m a t i c ~ i i s i i r y a ‘backbone curve. ’ Thas method as applicahlr e v e n zn cases w h e n explzczt representataon of the hrickbone curve intransac geometry cannot be...

Inverse Kinematics and Control of a 7-DOF Redundant Manipulator Based on the Closed-Loop Algorithm

1 ISSN 1729‐8806, pp. 1‐10 Inverse Kinematics and Control of a 7-DOF Redundant Manipulator Based on the Closed-Loop Algorithm Jingguo Wang1, Yangmin Li1,2 and Xinhua Zhao2 1Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau Av. Padre Tomás Pereira, Taipa, Macao SAR, China 2School of Mechanical Engineering, Tianjin University of Technology, Tian...

A new closed-form kinematics of the generalized 3-DOF spherical parallel manipulator

This paper presents a new method to analyze the closedform kinematics of a generalized three-degree-of-a-freedom spherical parallel manipulator. Using this analytical method, concise and uniform solutions are achieved. Two special forms of the three-degree-of-freedom spherical parallel manipulator, i.e. right-angle type and a decoupled type, are also studied and their unique and interesting pro...

The Closed Form Solution of the Inverse Kinematics of a 6-DOF Robot

The kinematics of manipulator is a central problem in the automatic control of robot manipulators. Theoretical background of the analysis of the MA-2000 educational robot arm kinematics is presented in this paper. The revolute robot consists of six rotary joints (6-DOF) with base, shoulder, elbow, wrist pitch, wrist yaw and wrist roll. The kinematics problem is defined as transformation from th...

Inverse Kinematics Solution and Verification of 4- DOF Hydraulic Manipulator