ITERATIVE KINEMATIC INVERSION OF GENERAL 5-AXIS ROBOT MANIPULATORS

被引：7
作者：
ANGELES, J
机构：
[1] McGill Univ, Dep of Mechanical, Engineering, Montreal, Que, Can, McGill Univ, Dep of Mechanical Engineering, Montreal, Que, Can
来源：
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 1986年 / 4卷 / 04期
关键词：
MATERIALS HANDLING - Manipulators;
D O I：
10.1177/027836498600400405
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
A kinetmatic model is derived that allows the computation of the joint coordinates and their time rates, given the Cartesian coordinates, velocities, and accelerations of five-axis manipulators of arbitrary architecture. The model leads to a formally overdetermined nonlinear algebraic system of six equations in five unknowns. Its least-squares approximation produces the desired joint coordinates. Joint rates are computed as the least-squares approximation of a formally overdetermined linear algebraic system of six equations in five unknowns, relating the desired rates with the Cartesian velocities.
引用
收藏
页码：59 / 70
页数：12
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