Inverse kinematics of a redundant manipulator based on conformal geometry using geometric approach

摘要

This paper describes a geometrical approach for analysing the inverse kinematics of a 7 Degrees of Freedom (DOF) redundant manipulator. The geometric approach is desirable since it provides complete and simple solutions to the problem and determines the relationship between the joints and the end-effector without iterative process. This paper introduces the approach to solve kinematic solution of 7 DOF in an intuitive way using conformal geometric approach step by step. We finally present the comparison with pseudo inverse solution which is the most well-known method in redundant manipulator kinematic problem at the same simulation environment.