Inverse Kinematics about a Seven-DOF Dual-arm Robot Based on POE Formula*

Abstract

This paper presents an inverse kinematics solution method for a seven-degree-of-freedom (7-DOF) dual-arm robot. After comparing and studying the structural characteristics of other dual-arm robots, a 7-DOF dual-arm robot with shoulder joints was proposed. Firstly, the product-of-exponentials(POE) formula of inverse kinematics is briefly described. Then, according to the structural characteristics of the 7-DOF dual-arm robot, the inverse kinematics solution of the 7-DOF dual-arm robot is calculated by using the POE formula and Paden-Kahan sub-problem solving method. Finally, the inverse kinematic closed solution is verified by the example calculation and MATLAB motion simulation. The results show that this method can simplify the inverse solution calculation, has clear geometric meaning and high reliability. It provides a new method for solving inverse kinematics solutions of a similar high-degree-of-freedom dual-arm robots.