Geometric Approach for Inverse Kinematics Analysis of 6-Dof Serial Robot

被引：0
|
作者：
Liu, Yuan [1 ,2 ]
Wang, Daqing [1 ,2 ]
Sun, Jian [2 ]
Chang, Li [1 ,2 ]
Ma, ChengXue [1 ,2 ]
Ge, Yunjian [2 ]
Gao, Lifu [2 ]
机构：
[1] Univ Sci & Technol China, Dept Automat, Hefei 230027, Peoples R China
[2] Chinese Acad Sci, Inst Intelligent Machines, Hefei 230031, Anhui, Peoples R China
来源：
2015 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION | 2015年
关键词：
Denavit-Hartenberg Matrix; Geometric approach; circular interpolation; Motoman robot;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The typical serial robot Motoman with six joints, high-speed and wide-workspace, for which inverse module is designed by Denavit-Hartenberg Matrix. According to D-H Parameters, the forward kinematics solution is analyzed and a Geometric Approach is used to the inverse solution. A simulation example through circular interpolation method on vs2013 shows the effectiveness of the proposed approach by comparing the circles before and after the forward/ inverse kinematics solution. Finally, this paper analysed the characteristics of this algorithm.
引用
收藏
页码：852 / 855
页数：4
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