ICRA2013:Closed Form Solution for Inverse Kinematical Mapping for Redundant Open Chain Manipulators (submitted)

In the current work a closed form solution for a multi redundant open chain manipulator is presented. Exploiting the geometrical properties of the open chain we derive first ananalytic solution for the seven degree of freedom arm. And introduce then a methodology to incorporate additional degree of freedoms in the chain preserving the closed form solution. The presented solution allows for flexible handling of motion constraints by utilizing the free parameters of the redundant chain. The approach is applied on several robotic systems with manipulators from seven up to nine degree of freedom.