Three-dimensional geometric resolution of the inverse kinematics of a 7 degree of freedom articulated arm

TL;DR

This paper introduces a geometric analytical method for solving the inverse kinematics of a 7-DOF robotic arm in three dimensions, providing precise solutions through a decoupling approach.

Contribution

It presents a novel geometric resolution technique that simplifies inverse kinematics calculations for complex articulated arms using kinematic decoupling.

Findings

Provides a closed-form solution for inverse kinematics

Achieves precise and efficient computation of joint angles

Utilizes kinematic decoupling for problem simplification

Abstract

This work presents a three-dimensional geometric resolution method to calculate the complete inverse kinematics of a 7-degree-of-freedom articulated arm, including the hand itself. The method is classified as an analytical method with geometric solution, since it obtains a precise solution in a closed number of steps, converting the inverse kinematic problem into a three-dimensional geometric model. To simplify the problem, the kinematic decoupling method is used, so that the position of the wrist is calculated independently on one hand with information on the orientation of the hand, and the angles of the rest of the arm are calculated from the wrist.