Kinematics Modeling and Trajectory Planning for a Redundant Manipulator
An improved kinematic modeling method and trajectory planning method are proposed for the 7-DOF redundant robotic arm motion planning problem.First,the forward kinematic model of the redundant robotic arm is established by the improved DH parameter method,which describes the transformation from joint space to Cartesian space.Then,the weighted least squares method is proposed to establish the inverse kinematic model of the redundant robotic arm to quickly solve the transformation from Cartesian space to joint space.Meanwhile,the fifth-order polynomial interpolation function is utilized to plan the joint space trajectory of the redundant robotic arm to improve the flatness of the robotic arm motion.Finally,the effectiveness of the method proposed in this paper is verified in simulation,and the results show that the method can effectively solve the motion planning problem of the redundant robotic arm,which has certain reference value for practical application.
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