In order to improve the solution accuracy of the inverse kinematics of the 7-DOF redundant manipulator,an inverse kinematics solution method based on the exponential product of the screw and the chaotic sparrow search algorithm is proposed.A 7-DOF humanoid manipulator is modeled,and the forward kinematics equation of the manipulator is established by the formula kmethod of screw-exponential product,which is verified in MATLAB.The fitness function is constructed according to the position vector and proximity vector of the manipulator,and the inverse solution of the redundant manipulator is solved by the chaotic sparrow search algorithm.The inverse solution algorithm program is written in MATLAB software,the obtained joint values is substituted into the established forward kinematics model,and the error between the expected pose and the actual pose of the redundant manipulator end is calculated.
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维普
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