INVERSE KINEMATIC SOLUTION OF A 7-DOF ROBOT WITH A TELESCOPIC FOREARM BASED ON JOINT LIMIT AND INERTIA MATRIX FLUCTUATION

Yutian Wang, Jiahao Qiu, Jun Wu, and Jinsong Wang

Keywords

7DOF robot, inverse kinematics, inertia matrix, objective function

Abstract

This paper deals with the inverse kinematics of a 7-DOF spray painting robot. The mapping relationship between the joint and the spray gun is studied, and it shows that the position of the end effector is only affected by five joints. A two-step method to find the solution of the inverse kinematics is proposed: (1) arbitrary two joints in the five joints that affect the position of the end effector are regarded as independent joints, and the solutions for the two joints are optimized based on the numerical method. (2) The solutions for other five joints are expressed as the function of two independent joints in the first step and they are analytically determined. A performance index to evaluate inertia matrix fluctuation is proposed, and a comprehensive objective function that considers the joint limit and inertia matrix fluctuation is presented to optimize the two independent joints. The two-step method to find the inverse kinematic solution is compared with the direct Jacobian iteration method based on the generalized inverse of Jacobian matrix.

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