New Algorithm for Inverse Kinematics of a Wield Robot

被引：0

作者：

Huang X. ^{[1
]}

Zhao D. ^{[1
]}

Liu B. ^{[1
]}

机构：

[1] School of Mechanical and Material Engineering, North China University of Technology, Beijing

来源：

Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University | 2016年 / 50卷

关键词：

Conformal geometric algebra; Inverse kinematics; Serial robot;

D O I：

10.16183/j.cnki.jsjtu.2016.S.023

中图分类号：

学科分类号：

摘要：

A novel geometric algorithm for the kinematics analysis of a wield robot is proposed. The direct kinematics of the robot can be solved by the discription of rigid transformation under the conformal geometric algebra framework. Joint positions are determined with the help of the inner and outer operations of the basic geometric entities and the cosine values of all joint rotating angles are computed by the inner product integrating simple algebraic computations. All solutions of the inverse kinematics problem are obtained. Finally, a numerical example is given to demonstrate the algorithm and the results show that this algorithm has the advantages of simple computation and geometrical intuition. © 2016, Shanghai Jiao Tong University Press. All right reserved.

引用

页码：90 / 93

页数：3