@inproceedings{1446cebaadf44a00b9e14b087f017702,
title = "Joint Limit Optimal Inverse Kinematics of the 7-DoF Manipulator with Link Offset based on Semi-analytical Solution",
abstract = "The 7-DoF redundant manipulator with offset links and symmetrical structure is applied in the space station. The analytical solution of the inverse kinematics(IK) is difficult when considering the joint limits. This study proposes a joint limit optimal IK solution based on the optimization of the fixed joint angle parameters. The analytical method of fixed joint inverse solution is combined with the numerical method of joint limit optimization. This semi-analytical method converges to a definite solution with a closed form and have symmetry to avoid the non-conservative of the pseudo-inverse solution. Simulation results verify the effectiveness of the IK algorithm.",
author = "Yaowen Zhang and Yechao Liu and Baoshi Cao and Yang Liu and Boyu Ma and Zongwu Xie",
note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021 ; Conference date: 27-12-2021 Through 31-12-2021",
year = "2021",
doi = "10.1109/ROBIO54168.2021.9739314",
language = "英语",
series = "2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "483--489",
booktitle = "2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021",
address = "美国",
}