Kinematics Control for a 7-DOF Cable-Driven Anthropomorphic Arm

Abstract

Based on the current research results of anthropomorphic-arm bionics and parallel manipulators, a motion control approach for a 7-DOF cable-driven manipulator is proposed. This paper introduces mechanical structure design of this anthropomorphic-arm first. For the inverse kinematics of the 7-DOF manipulator, a hybrid algorithm, based on gradient projection method and Paden-Kahan sub problems, is proposed to make the trajectory tracing of the manipulator in task space with high accuracy; a joint rate redistribution approach is also employed to optimize kinematic performance criterion and improve the fault-tolerance of the manipulator. The coupling cable lengths among the different joint modules, i.e., shoulder, elbow, and wrist joints, are analyzed in detail. Finally, to demonstrate the proposed algorithm, by utilizing ADAMS software, a straight-line trajectory motion simulation for the 7-DOF cable-driven manipulator is realized