Abstract The shape and movement irregularities of rail-type redundant sliding manipulators lead to structural uncertainty, which results in inverse kinematics computations that are considerably more complicated than those of the traditional redundant manipulator currently studied. In this paper, an analytical inverse kinematic parameterized method is proposed for the redundant sliding manipulators, which solves the inverse kinematics analytically and adopts the Newton–Raphson algorithm for secondary adjustment. This paper is the first time to propose a general analytical inverse kinematics solution for all types of rail-type redundant sliding manipulators. Furthermore, the special structural characteristics of the rail-type redundant sliding manipulator are analyzed in this paper. The proposed method takes the redundant circular-sliding manipulator as the research object, and extends to all types of rail-type redundant sliding manipulators. It has the advantages of simplicity, practicability, obvious geometric meaning and universality, which can solve the real-time motion planning and control issues of all types of redundant sliding manipulators. Simulation illustrations and physical experiments are performed to verify the effectiveness and universality of the method.

中文翻译：

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7自由度冗余滑动机械手的解析逆运动学计算

摘要 轨道式冗余滑动机械手的形状和运动不规则性导致结构的不确定性，导致逆运动学计算比目前研究的传统冗余机械手复杂得多。本文针对冗余滑动机械手提出了一种解析逆运动学参数化方法，该方法解析逆运动学，采用Newton-Raphson算法进行二次调整。本文首次提出了适用于所有类型导轨式冗余滑动机械手的通用解析逆运动学解决方案。进一步分析了导轨式冗余滑动机械手的特殊结构特点。所提出的方法以冗余圆形滑动机械手为研究对象，扩展到所有类型的导轨式冗余滑动机械手。它具有简单实用、几何意义明显、通用性强等优点，可以解决各类冗余滑动机械手的实时运动规划和控制问题。仿真插图和物理实验验证了该方法的有效性和通用性。