Abstract
To begin the work presents some redundancy resolution schemes for robotic arms, i.e., the techniques for exploiting the redundant degrees of freedom in the solution of the inverse kinematics problem. This is obviously an issue of major relevance for motion planning and control purposes. In particular, task-oriented kinematics and the basic methods for its inversion at the velocity (first-order differential) level are first recalled. This paper focuses on modeling and simulations of the inverse kinematics of an anthropomorphic redundant robotic structure with seven degrees of freedom and a workspace similar to human arm. Also the kinematic model of the robotic arm in the MATLAB and Simulink environment is presented. A method of resolving the redundancy of a seven degrees of freedom robotic arm when a degree of freedom has a known variation is presented. The kinematic analysis and virtual simulation share similar results.
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