Redundant multi-joint robot arm

Abstract

This invention discloses a redundant multi-joint robotic arm, belonging to the field of motion planning technology for redundant robotic arms. The robotic arm is a seven-degree-of-freedom redundant robotic arm, including a base, a first rotary joint, a first pitch joint, a second rotary joint, a second pitch joint, a third rotary joint, a third pitch joint, and a fourth rotary joint. The base is located at the end of the first rotary joint. The second rotary joint is connected to the second pitch joint via a long connecting rod. The second pitch joint is connected to the third rotary joint, and the third pitch joint is connected to the fourth rotary joint via short connecting rods. By designing this seven-degree-of-freedom robotic arm, when the end-effector pose is determined, the redundant spatial robotic arm can obtain an infinite number of inverse kinematics corresponding to it, thereby effectively solving problems such as joint limit and obstacle avoidance. It meets the needs of chassis condition detection and maintenance work for special vehicles, and has the characteristics of good obstacle avoidance control, large joint torque, and simple operation.

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