An Analytic Solution Study For A 7-Dof Redundant Robot Manipulator

Solving redundant robot kinematics inverse is difficult and critical for redundant robot kinematics. There is no unified solution formula for the general inverse solution of redundant robot structures. In this paper we present the kinematic quantities and computational schemes that are relevant in the kinematic description of a typical redundant manipulator named SIR700 with 7 DOE (degree of freedom) developed by Shenzhen Academy of Robotics. SIR700 has a character in geometric that Joint 3 and Joint 5 are not on the same plane, while Joint 2, Joint 4 and Joint 6 can form a triangle. An extra constraint is introduced based on that theta(4) is solved in the solution of geometric first, then el, theta(1), theta(2), theta(3) and eg, theta(5), theta(6), theta(7) arc solved in the solution of algebraic form.