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Información general |
| Autor |
Liu, Huashan; Zhou, Wuneng; Lai, Xiaobo; Zhu, Shiqiang |
| Publicado |
InTech Open Access Publisher, 2013
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| Abstract |
This paper presents an efficient inverse kinematics
(IK) approach which features fast computing performance
for a PUMA560‐structured robot manipulator. By
properties of the orthogonal matrix and block matrix, the
complex IK matrix equations are transformed into eight
pure algebraic equations that contain the six unknown joint
angle variables, which makes the solving compact without
computing the reverses of the 4×4 homogeneous
transformation matrices. Moreover, the appropriate
combination of related equations ensures that the solutions
are free of extraneous roots in the solving process, and the
wrist singularity problem of the robot is also addressed.
Finally, a case study is given to show the effectiveness of
the proposed algorithm. |
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International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicado: 2004
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