EFFICIENT METHOD FOR REDUNDANCY RESOLUTION OF A 7 DOF MANIPULATOR

Autor/autori: Mihai CRENGANIS, Octavian BOLOGA


Abstract: In this paper we are presenting a method to solve the inverse kinematics problem of a redundant manipulator with seven degrees of freedom and a human like workspace based on mathematical equations, Fuzzy Logic implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts were converted into SimMechanics model.

Keywords: redundancy circle, 7 DOF, inverse kinematics solutions

 

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