Decoupling Method to Solve Inverse Kinematics for Assistant Robot

被引：0
|
作者：
Becerra, Yeyson [1 ]
Soto, Sebastian [1 ]
机构：
[1] Corporac Unificada Nacl Educ Super, Bogota, Colombia
来源：
APPLIED COMPUTER SCIENCES IN ENGINEERING (WEA 2019) | 2019年 / 1052卷
关键词：
Inverse kinematics; Decoupling method; Workspace; MANIPULATOR;
D O I：
10.1007/978-3-030-31019-6_35
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
Inverse kinematics solution for a six degree of freedom assistant robot will be presented in this work. Denavit-Hartenberg parameters and decoupling method will be used to find a closed solution for the robot. Novel approach to analyze torso and arm assistant robot will be described and inverse kinematics solution will be detailed. Arm Workspace and augmented work-space (including torso) will be compared. Experiments, simulations and results of the proposed algorithm will be presented as well as a discussion of them.
引用
收藏
页码：406 / 415
页数：10
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