2
$\begingroup$

Is it possible to apply kinematic decoupling for a 7 DOF 7R manipulator with spherical wrist? If it is possible, can anyone suggest a reference on how to apply this approach with a redundant manipulator with spherical wrist, or explain why it is not possible?

I'm working with Robotic Toolbox (matlab) and the numeric algorithm can find the inverse kinematics solution without a problem if I don't specify the orientation. And I was thinking about solving the problem a second time considering the spherical wrist. Will this approach work?

Improve this question
$\endgroup$

1 Answer 1

Reset to default
4
$\begingroup$

I believe kinematic decoupling used to be the standard procedure for 6 DOF arms. (6R with spherical wrist). Where you would solve the 3 DOF position IK first, then 3 DOF orientation IK.

If you have a spherical wrist, I don't think there is any reason why you can't decouple your problem like this. However, I assume you now have a 4 DOF arm to reach a 3D point. You have 1 redundancy, so your IK will probably give you a number of solutions. So you should do your orientation IK on top of all these...

That being said, i don't believe anyone does it like this anymore. I know at least my kinematics library of choice (OpenRave) can solve 7 DOF IK problems. It does so by discretizing the extra DOF(s).

Improve this answer
$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.

Not the answer you're looking for? Browse other questions tagged or ask your own question.