Jun 20, 2022 · Task and Motion Planning for a 7-DOF serial robot containing only revolute joints needs a fast and numerically stable inverse kinematics solution. The analytical methods are real-time, but they are robot dependent.

We categorize 7R robots based on intersecting or parallel axes and choices of shoulder, elbow, and wrist locations. We also demonstrate solving IK for a 7R manipulator

Mar 7, 2025 · This paper presented an inverse solution algorithm designed to address the complexities and low precision inherent in the inverse kinematics problem for 7R robots. This is achieved by leveraging geodesic equations within Riemannian manifolds. Furthermore, a reverse solution model specifically for 7R robots is proposed.

Aug 3, 2017 · In this article, a reliable numerical iterative algorithm for the inverse kinematics of a 7R 6-degree-of-freedom robot is proposed. Based on the geometry of the robot, the inverse kinematics is...

Dec 1, 2022 · Model-based kinematic and non-kinematic calibration problems of a 7R 6-DOF robot with non-spherical wrist are studied in this paper. The main contribution is that the proposed method can improve accuracy of the robot by compensating kinematic errors, compliance errors from external load and self-gravity.

Jan 17, 2017 · In this article, a reliable numerical iterative algorithm for the inverse kinematics of a 7R 6-degree-of-freedom robot is proposed. Based on the geometry of the robot, the inverse kinematics is converted into a one-dimensional iterative research problem.

Jan 1, 2022 · Task and Motion Planning for a 7-DOF serial robot containing only revolute joints needs a fast and numerically stable inverse kinematics solution. The analytical methods are real-time, but...

In this paper a new computational technique for the inverse position problem of a 7R robot is presented. Instead of reducing the problem to one highly complicated input-output equation, we work with a system of 10 very simple polynomial equations.

Aug 3, 2017 · In this article, a reliable numerical iterative algorithm for the inverse kinematics of a 7R 6-degree-of-freedom robot is proposed. Based on the geometry of the robot, the inverse kinematics is converted into a one-dimensional iterative research problem.

Jun 1, 2023 · This paper proposes an exact inverse solution for a 7R manipulator based on a novel screw-based sub-problem. In this work, the IK models of the joint angles are explicitly formulated while taking the first angle as the given parameter.