Inverse kinematics for a 7-DOF humanoid robotic arm with joint limit and end pose coupling

Rutong Dou,Shenbo Yu,Wenyang Li,Peng Chen,Pengpeng Xia,Fengchen Zhai,Hiroshi Yokoi,Yinlai Jiang

Mechanism and Machine Theory（2022）

引用 12|浏览20

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摘要

•A 7-DOF humanoid arm is proposed according to the configuration of the human arm.•An integrated approach is proposed to solve the closed-form solution of the arm.•The arm angle optimization algorithm is proposed to avoid complicated calculations.

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关键词

Analytical solution,Humanoid robotic arm,Inverse kinematics optimization,Joint limit,Reverse order method

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