Design and Implementation of Modularized 7-DOFs Dual Arm Manipulator
Journal
2016 IEEE International Conference on Industrial Technology (ICIT2016)
Date Issued
2016
Author(s)
Abstract
This paper introduces the analytical inverse kinematic solution of modularized seven DOFs redundant manipulator with offsets at shoulder and elbow or wrist, and uses the analytical solution of manipulator to achieve dual arm intuitive teaching. Furthermore, this paper verify the method of select proper joint as redundant axis which could enhance the ability of obstacle avoidance in the corresponding workspace. Intuitive teaching and playing are successfully implemented to verify the prof-of-concept.
SDGs
Type
conference paper