A geometrical method for inverse kinematics of a kind of humanoid manipulator

被引：9

作者：

Chen, Peng ^{[1
,2
]}

Liu, Lu ^{[3
]}

Yu, Fei ^{[1
]}

Li, Hongyi ^{[1
]}

Yang, Fangping ^{[1
,2
]}

Wang, Xuezhu ^{[1
,2
]}

机构：

[1] State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China

[2] Graduate School of Chinese Academy of Sciences, Beijing 100049, China

[3] College of Adult Education, Shenyang Jianzhu University, Shenyang 110168, China

来源：

Jiqiren/Robot | 2012年 / 34卷 / 02期

关键词：

Geometry - Degrees of freedom (mechanics) - Manipulators - Inverse problems;

D O I：

10.3724/SP.J.1218.2012.00211

中图分类号：

学科分类号：

摘要：

The inverse kinematics problem of a kind of humanoid manipulator with 7 rotating DOFs (degrees of freedom) is solved with a geometrical method, and the best solution in the space of the joint angles corresponding to the end-effector's given position and posture is searched with specific optimizing index. This method has no theoretical error but a sufficiently fast solving speed. It is propitious for the online real-time kinetic control of the manipulator.

引用

页码：211 / 216