Inverse kinematics of 7-DOF redundant manipulators with arbitrary offsets based on augmented Jacobian

摘要

To solve the inverse kinematics of 7-DOF redundant manipulators with arbitrary offsets. A numerical method that is based on augmented Jacobian is proposed. Firstly, the end-effector Jacobian is given to reflect the relationship between joint angle rates and end-effector rates. To solve the redundancy of 7-DOF manipulator, an arm angle parameter is defined to parameterize the redundancy of manipulator. From the geometric features of the manipulator, the Jacobian matrix of arm angle is built to solve the redundancy of the manipulator. Furthermore, singularities of Jacobian are discussed mainly by analyzing the rank of Jacobian. In the end, the method is verified with Yaskawa VA1400II manipulator. The results of simulations and experiment strongly prove the validity and efficiency of this method.