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P. Kim(김평강),H. Lee(이현영),N. K. Kang(강남규) Korean Society for Precision Engineering 2021 한국정밀공학회 학술발표대회 논문집 Vol.2021 No.11월
Highly dexterous robot manipulators such as human-like 7-DOF manipulators are advantageous for the automation of maintenance tasks operated in confined spaces, for example, replacing hazardous chemical supplies in equipment. However, time-consuming methods such as machine learning or optimization-based methods are frequently needed to implement such complex manipulation tasks. To reduce computational costs and achieve high intuitiveness to control an arm angle of the manipulator, we propose a closed-form inverse kinematics (IK) solver of the 7-DOF manipulator with a shoulder offset, based on the 3rd joint parametrization. The resulting analytical IK solver is much faster than conventional methods (Approximately Eight-times Faster than TRAC-IK) and it is a more intuitive choice to control the arm angle of the manipulator than any other joint parameterizations as it shows a one-to-one mapping between the arm angle and the parameter (The 3rd Joint.) Finally, this solver is effectively implemented to design a manipulator controller to avoid its joint limits and kinematic singularities based on a potential-field-based approach.