Kinematics of service robot bionics arm

Kai Fei Shi; Rui Feng Li

Kinematics of service robot bionics arm

Kai Fei Shi^*
, Rui Feng Li

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Contribution to journal › Article › peer-review

14 Scopus citations

Abstract

The kinematics analysis on a service robot bionics arm is presented and the kinematics inverse solution for 7-DOF arm is gained in two ways: degenerating 7-DOF to 6-DOF, and dividing the manipulator into arm and wrist. The orientation and position of spherical wrist are resolved in this way, while the property of redundancy is kept. Both ways simplify the inverse kinematics with less amount of calculation, and are suitable for real-time control.

Original language	English
Pages (from-to)	806-808
Number of pages	3
Journal	Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology
Volume	35
Issue number	7
State	Published - Jul 2003

Keywords

Bionics arm
Kinematics inverse solution
Redundancy
Service robot

Cite this

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title = "Kinematics of service robot bionics arm",

abstract = "The kinematics analysis on a service robot bionics arm is presented and the kinematics inverse solution for 7-DOF arm is gained in two ways: degenerating 7-DOF to 6-DOF, and dividing the manipulator into arm and wrist. The orientation and position of spherical wrist are resolved in this way, while the property of redundancy is kept. Both ways simplify the inverse kinematics with less amount of calculation, and are suitable for real-time control.",

keywords = "Bionics arm, Kinematics inverse solution, Redundancy, Service robot",

author = "Shi, \{Kai Fei\} and Li, \{Rui Feng\}",

year = "2003",

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language = "英语",

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pages = "806--808",

journal = "Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology",

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T1 - Kinematics of service robot bionics arm

AU - Shi, Kai Fei

AU - Li, Rui Feng

PY - 2003/7

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N2 - The kinematics analysis on a service robot bionics arm is presented and the kinematics inverse solution for 7-DOF arm is gained in two ways: degenerating 7-DOF to 6-DOF, and dividing the manipulator into arm and wrist. The orientation and position of spherical wrist are resolved in this way, while the property of redundancy is kept. Both ways simplify the inverse kinematics with less amount of calculation, and are suitable for real-time control.

AB - The kinematics analysis on a service robot bionics arm is presented and the kinematics inverse solution for 7-DOF arm is gained in two ways: degenerating 7-DOF to 6-DOF, and dividing the manipulator into arm and wrist. The orientation and position of spherical wrist are resolved in this way, while the property of redundancy is kept. Both ways simplify the inverse kinematics with less amount of calculation, and are suitable for real-time control.

KW - Bionics arm

KW - Kinematics inverse solution

KW - Redundancy

KW - Service robot

UR - https://www.scopus.com/pages/publications/0142137617

M3 - 文章

AN - SCOPUS:0142137617

SN - 0367-6234

VL - 35

SP - 806

EP - 808

JO - Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology

JF - Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology

IS - 7

ER -

Kinematics of service robot bionics arm

Abstract

Keywords

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