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- Publisher Website: 10.5875/ausmt.v2i4.172
- Scopus: eid_2-s2.0-84891537041
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Article: An analytical solution for a redundant manipulator with seven degrees of freedom
Title | An analytical solution for a redundant manipulator with seven degrees of freedom |
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Authors | |
Keywords | Redundant manipulator Joint limit Singularity Inverse kinematics |
Issue Date | 2012 |
Citation | International Journal of Automation and Smart Technology, 2012, v. 2, n. 4, p. 339-346 How to Cite? |
Abstract | In this paper, an analytical solution for the inverse kinematics of a redundant manipulator with seven degrees of freedom and an offset rotation axis is presented. We provide a model for the redundant manipulator and introduce its self-motion. Considering geometric symmetry, sixteen sets of manipulator joint angles are obtained at once. Avoidance of singularities and obstacles is illustrated by simulation results. © 2012 International Journal of Automation and Smart Technology. |
Persistent Identifier | http://hdl.handle.net/10722/302909 |
DC Field | Value | Language |
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dc.contributor.author | Nammoto, Takashi | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.date.accessioned | 2021-09-07T08:42:49Z | - |
dc.date.available | 2021-09-07T08:42:49Z | - |
dc.date.issued | 2012 | - |
dc.identifier.citation | International Journal of Automation and Smart Technology, 2012, v. 2, n. 4, p. 339-346 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302909 | - |
dc.description.abstract | In this paper, an analytical solution for the inverse kinematics of a redundant manipulator with seven degrees of freedom and an offset rotation axis is presented. We provide a model for the redundant manipulator and introduce its self-motion. Considering geometric symmetry, sixteen sets of manipulator joint angles are obtained at once. Avoidance of singularities and obstacles is illustrated by simulation results. © 2012 International Journal of Automation and Smart Technology. | - |
dc.language | eng | - |
dc.relation.ispartof | International Journal of Automation and Smart Technology | - |
dc.subject | Redundant manipulator | - |
dc.subject | Joint limit | - |
dc.subject | Singularity | - |
dc.subject | Inverse kinematics | - |
dc.title | An analytical solution for a redundant manipulator with seven degrees of freedom | - |
dc.type | Article | - |
dc.description.nature | link_to_OA_fulltext | - |
dc.identifier.doi | 10.5875/ausmt.v2i4.172 | - |
dc.identifier.scopus | eid_2-s2.0-84891537041 | - |
dc.identifier.volume | 2 | - |
dc.identifier.issue | 4 | - |
dc.identifier.spage | 339 | - |
dc.identifier.epage | 346 | - |
dc.identifier.eissn | 2223-9766 | - |