Abstract：For 7 degree of freedom (DOF) manipulator which has redundant DOF, traditional numerical algorithm based on optimal Jacobean Matrix has some obvious cons. The numerical algorithm just provides one possible solution which can not fully use the redundancy feature of the 7DOF manipulator.A new additional constraint which named elbow angle was proposed besides traditional pos matrix constraint. According to these 7 dimension constraint, a new analytical solving of inverse kinematics model for 7DOF manipulator was deduced to obtain redundant solution. In the simulation, pos control of manipulator end effector and aiming control were achieved based on this algorithm. The simulation results demonstrate high accuracy, fast computation and application value of this algorithm.
2011, Vol. 32 
