Analytical inverse kinematics solution and global arm angle optimization method for 7-DOF redundant robotic arms...

Area of Science:

• Robotics
• Control Systems
• Computational Geometry

Background:

• Seven-degree-of-freedom (7-DOF) redundant robotic arms offer enhanced dexterity but pose challenges in inverse kinematics.
• Existing methods often struggle with optimal configuration selection and dynamic constraints.

Purpose of the Study:

• To propose a novel analytical inverse kinematics solution for 7-DOF redundant robotic arms without offset.
• To introduce an arm angle optimization strategy for selecting optimal configurations.
• To enhance dynamic performance and safety through advanced control mechanisms.

Main Methods:

• Developed an analytical inverse kinematics solution based on spherical geometry.
• Introduced an arm angle parameter for configuration optimization.
• Implemented joint limit avoidance, velocity/acceleration constraints, and dynamic risk assessment.
• Utilized boundary repulsion and central attraction for global arm angle optimization.

Main Results:

• The proposed method achieved superior trajectory tracking accuracy compared to state-of-the-art techniques.
• Demonstrated significant reductions in average arm angle change rate and joint angle variation.
• Showcased improvements in maximum joint velocity and acceleration, alongside reduced computational time.

Conclusions:

• The novel analytical inverse kinematics solution and optimization strategy offer significant advantages for 7-DOF robotic arms.
• The method enhances dynamic performance, safety, and computational efficiency.
• This approach provides a robust framework for controlling complex robotic systems.