An analytical algorithm for inverse kinematics of series parallel hybrid 7-DOF humanoid manipulator

Abstract

Aiming at the inverse kinematics of series-parallel hybrid 7-DOF humanoid manipulator, an analytical algorithm based on adaptive parameterization of joint posture angle is proposed. Firstly, according to the configuration of the humanoid manipulator, the schematic diagram of the mechanism is established, and the forward kinematics is derived. Secondly, the posture angle of the shoulder joint is adaptive parameterized by the moderate principle, and then the rest of the joint posture angles are deduced by the analytical method to complete the inverse kinematics solution. Finally, the correctness of the proposed inverse kinematics method is verified by simulation analysis, and the advantages and disadvantages of the joint posture angles are evaluated by using the evaluation function, which shows that it is reasonable to adopt the moderate principle for the parameterized joint posture angles.