IDEAS home Printed from https://ideas.repec.org/a/hin/jnlmpe/6680687.html
   My bibliography  Save this article

A Solution of the Inverse Kinematics Problem for a 7-Degrees-of-Freedom Serial Redundant Manipulator Using Gröbner Bases Theory

Author

Listed:
  • Sérgio Ricardo Xavier da Silva
  • Leizer Schnitman
  • Vitalino Cesca Filho

Abstract

This article presents a solution of the inverse kinematics problem of 7-degrees-of-freedom serial redundant manipulators. A 7-degrees-of-freedom (7-DoF) redundant manipulator can avoid obstacles and thus improve operational performance. However, its inverse kinematics is difficult to solve since it has one more DoF than that necessary for reaching the whole workspace, which causes infinite solutions. In this article, Gröbner bases theory is proposed to solve the inverse kinematics. First, the Denavit–Hartenberg model for the manipulator is established. Second, different joint configurations are obtained using Gröbner bases theory. All solutions are confirmed with the aid of algebraic computing software, confirming that this method is accurate and easy to be implemented.

Suggested Citation

  • Sérgio Ricardo Xavier da Silva & Leizer Schnitman & Vitalino Cesca Filho, 2021. "A Solution of the Inverse Kinematics Problem for a 7-Degrees-of-Freedom Serial Redundant Manipulator Using Gröbner Bases Theory," Mathematical Problems in Engineering, Hindawi, vol. 2021, pages 1-14, July.
    • Handle: RePEc:hin:jnlmpe:6680687
    DOI: 10.1155/2021/6680687
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/MPE/2021/6680687.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/MPE/2021/6680687.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2021/6680687?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:jnlmpe:6680687. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.