TY - GEN
T1 - An Analytical Inverse Kinematics Optimization Method for SSRMS Type 7-DOF Redundant Space Manipulators
AU - Shi, Jixin
AU - Zhang, Huan
AU - Luo, Chencheng
N1 - Publisher Copyright:
© Press of Acta Aeronautica et Astronautica Sinica 2026.
PY - 2026
Y1 - 2026
N2 - This article proposes an analytical inverse kinematics solution method based on parallel joint axis vector optimization to solve the inverse kinematics problem of SSRMS type 7-DOF redundant space manipulators. Firstly, based on the characteristics of the 7-DOF redundant space manipulators, parallel joint axis vectors are introduced. Using these vectors, all joint positions and joint axis vectors orientation are derived, and all joint angles are solved. Then, the joint limit avoidance, singularity avoidance and motion continuity of the manipulator are used as constraints to establish the optimization model. Finally, based on the particle swarm optimization (PSO) algorithm, a 7-DOF manipulators inverse kinematics optimization algorithm is designed to find the optimal parallel joint axis vector. A kinematic simulation experiment is conducted using a self-developed SSRMS type 7-DOF redundant manipulators as an example. The effectiveness of the algorithm is verified through kinematic simulation experiments, and the results reflects that the algorithm performs well in terms of accuracy and stability.
AB - This article proposes an analytical inverse kinematics solution method based on parallel joint axis vector optimization to solve the inverse kinematics problem of SSRMS type 7-DOF redundant space manipulators. Firstly, based on the characteristics of the 7-DOF redundant space manipulators, parallel joint axis vectors are introduced. Using these vectors, all joint positions and joint axis vectors orientation are derived, and all joint angles are solved. Then, the joint limit avoidance, singularity avoidance and motion continuity of the manipulator are used as constraints to establish the optimization model. Finally, based on the particle swarm optimization (PSO) algorithm, a 7-DOF manipulators inverse kinematics optimization algorithm is designed to find the optimal parallel joint axis vector. A kinematic simulation experiment is conducted using a self-developed SSRMS type 7-DOF redundant manipulators as an example. The effectiveness of the algorithm is verified through kinematic simulation experiments, and the results reflects that the algorithm performs well in terms of accuracy and stability.
KW - Inverse Kinematics
KW - Particle Swarm Algorithm
KW - Redundant Manipulators
KW - Singularities Avoidance
UR - https://www.scopus.com/pages/publications/105028360045
U2 - 10.1007/978-981-95-3037-3_14
DO - 10.1007/978-981-95-3037-3_14
M3 - Conference contribution
AN - SCOPUS:105028360045
SN - 9789819530366
T3 - Lecture Notes in Mechanical Engineering
SP - 192
EP - 208
BT - Proceedings of the 2nd Aerospace Frontiers Conference, AFC 2025 - Volume VI
PB - Springer Science and Business Media Deutschland GmbH
T2 - 2nd Aerospace Frontiers Conference, AFC 2025
Y2 - 11 April 2025 through 14 April 2025
ER -