A Solution of the Inverse Kinematics Problem for a 7-Degrees-of-Freedom Serial Redundant Manipulator Using Gröbner Bases Theory

Sérgio Ricardo Xavier da Silva, Leizer Schnitman and Vitalino Cesca Filho

Mathematical Problems in Engineering, 2021, vol. 2021, 1-14

Abstract:

This article presents a solution of the inverse kinematics problem of 7-degrees-of-freedom serial redundant manipulators. A 7-degrees-of-freedom (7-DoF) redundant manipulator can avoid obstacles and thus improve operational performance. However, its inverse kinematics is difficult to solve since it has one more DoF than that necessary for reaching the whole workspace, which causes infinite solutions. In this article, Gröbner bases theory is proposed to solve the inverse kinematics. First, the Denavit–Hartenberg model for the manipulator is established. Second, different joint configurations are obtained using Gröbner bases theory. All solutions are confirmed with the aid of algebraic computing software, confirming that this method is accurate and easy to be implemented.

Date: 2021
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/MPE/2021/6680687.pdf (application/pdf)
http://downloads.hindawi.com/journals/MPE/2021/6680687.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:6680687

DOI: 10.1155/2021/6680687

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().