A Closed Loop Inverse Kinematics and Control Scheme for one Class of Offset-Joint 7-DOF Redundant Manipulator

This paper presents a position-based motion control method using the closed-loop inverse kinematics (CLIK) algorithm, which is used for solving one class of offset joint 7 degrees of freedom (DOF) robot. Dual-arm robot is one of the research topics in the field of robotics. In the article, we designed a kind of human dual-arm robot with 14-DOF and studied its kinematics with one of the arms. The inverse kinematic can be solved by using the pseudo-inverse matrix, and the numerical solution can be obtained. In the simulation, we adopt position + velocity scheme and at the same time consider the desired orientation as the posture limitation. This algorithm not only can accurately track the target trajectory, but also can avoid the effect of singularity points. Simulation results for one class end biasing 7-DOF robot demonstrates the effectiveness of the scheme, even for singularities.