Inverse Kinematics Analysis of 7-DOF Collaborative Robot by Decoupling Position and Orientation

Abstract

Redundant manipulators have some advantages in comparison to standard ones, namely higher flexibility, obstacle, and joint limits avoidance capability, and much more solutions of inverse kinematics. This paper presents a combination of Jacobian-based and analytical method for finding solution of inverse kinematics of a 7-DOF manipulator. In this way, the first four joint variables are determined with Jacobian-based method, and the last three ones based on an analytical method. Some numerical simulations are carried out to verify the effectiveness of the proposed approach.