Solution for a new Sub-problem in Screw Theory and its' Application in the Inverse Kinematics of a Manipulator

被引：3

作者：

Tan Yue-sheng ^{[1
]}

Cheng Peng-le ^{[1
]}

Xiao Ai-ping ^{[1
]}

机构：

[1] Beijin Forestry Univ, Tech Sch, Beijing 100083, Peoples R China

来源：

MECHANICAL ENGINEERING AND GREEN MANUFACTURING, PTS 1 AND 2 | 2010年

关键词：

motion screw; Paden-Kahan sub-problem; inverse kinematics;

D O I：

10.4028/www.scientific.net/AMM.34-35.271

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

Three basic sub-problems of screw theory are acceptable for some particular configuration manipulators' inverse kinematics, which can not solve the inverse kinematics of all configuration manipulators. A new sub-problem is presented and the inverse kinematics thereof is solved in this paper. Based on the extended sub-problem, a manipulator, the inverse kinematics of which can not be solved by the three sub-problems without the participation of the new sub-problem, is constructed. The inverse kinematics of the manipulator is solved with the help of the extended sub-problem. Therefore a close solution is gained. The sub-problem herein can be applied directly in the inverse kinematics of a manipulator, providing a new approach for the inverse kinematics of a general configuration manipulator.

引用

页码：271 / 275

页数：5

共 11 条

[1]

BINGUL Z, 2005, COMP INVERSE KINEMAT

[2]

CHAPELLE F, CLOSED FORM INVERSE

[3] Closed-form inverse kinematics solver for reconfigurable robots [J].

Chen, IM ;

Gao, Y .

2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2001, :2395-2400

[4] Inverse kinematics for modular reconfigurable robots [J].

Chen, IM ;

Yang, G .

1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, 1998, :1647-1652

[5]

Kelmar L., 1988, Proceedings of the 1988 IEEE International Conference on Robotics and Automation (Cat. No.88CH2555-1), P663, DOI 10.1109/ROBOT.1988.12135

[6]

MURRAY RM, 2005, MATH INTRO ROBOTIC M

[7]

Oyama E., 1999, IJCNN'99. International Joint Conference on Neural Networks. Proceedings (Cat. No.99CH36339), P2065, DOI 10.1109/IJCNN.1999.832704

[8]

TAN YS, RAM 2008, P379

[9] Inverse kinematics in robotics using neural networks [J].

Tejomurtula, S ;

Kak, S .

INFORMATION SCIENCES, 1999, 116 (2-4) :147-164

[10]

ZHAO J, 2005, ROBO T, P163

← 1 2 →