A Solution of the Inverse Kinematics Problem for a 7-Degrees-of-Freedom Serial Redundant Manipulator Using Gröbner Bases Theory. (28th July 2021)

• Record Type: Journal Article
• Authors: Ricardo Xavier da Silva, Sérgio; Schnitman, Leizer; Cesca Filho, Vitalino
• Other Names: Gonçalves de Lima Antonio M. Academic Editor.
• Is Part Of: Mathematical problems in engineering. Volume 2021(2021)
• Publication Date: 2021-07-28
• Subjects: Engineering mathematics -- Periodicals; 510.2462
• DOI: 10.1155/2021/6680687
• Languages: English
• ISSNs: 1024-123X

Abstract

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.