Kinematics Solution and Workspace Analysis of a Seven (DOF) Redundant Manipulator

Abstract

The standard D-H parameter method was used to analyze the kinematic modeling of the redundant manipulator with seven degrees of freedom. By establishing the link coordinate system, the transformation matrix of the end tool coordinate system relative to the fixed coordinate system is obtained, and the positive motion of the manipulator is solved. According to the working condition requirements and the structural constraints of the mechanical arm, the joint angle of the mechanical arm is constrained, and the inverse kinematics solution of the mechanical arm is solved by the matrix inverse multiplication analysis method, and the positive kinematics solution is mutually verified to ensure the correctness of the solution; Matlab Robotics Toolbox 10.3 simulates the working space of the manipulator model, and judges the rationality of the manipulator structure through the simulation space results.