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结合旋量和代数方法的工业机械臂逆运动学解法

敖天翔 刘满禄 张华 赵皓

敖天翔, 刘满禄, 张华, 赵皓. 结合旋量和代数方法的工业机械臂逆运动学解法[J]. 机械科学与技术, 2017, 36(8): 1224-1229. doi: 10.13433/j.cnki.1003-8728.2017.0813
引用本文: 敖天翔, 刘满禄, 张华, 赵皓. 结合旋量和代数方法的工业机械臂逆运动学解法[J]. 机械科学与技术, 2017, 36(8): 1224-1229. doi: 10.13433/j.cnki.1003-8728.2017.0813
Ao Tianxiang, Liu Manlu, Zhang Hua, Zhao Hao. Inverse Kinematic Solution of Industrial Robot Arm With Combination of Screw Theory and Algebraic Methods[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(8): 1224-1229. doi: 10.13433/j.cnki.1003-8728.2017.0813
Citation: Ao Tianxiang, Liu Manlu, Zhang Hua, Zhao Hao. Inverse Kinematic Solution of Industrial Robot Arm With Combination of Screw Theory and Algebraic Methods[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(8): 1224-1229. doi: 10.13433/j.cnki.1003-8728.2017.0813

结合旋量和代数方法的工业机械臂逆运动学解法

doi: 10.13433/j.cnki.1003-8728.2017.0813
基金项目: 

四川省科技支撑计划项目(2015GZ0027)与西南科技大学研究生创新基金项目(17ycx122)资助

详细信息
    作者简介:

    敖天翔(1992-),硕士研究生,研究方向为机器人轨迹规划,机器人力控制,aotianxiang1992@163.com

    通讯作者:

    张华(联系人),教授,博士,zzhh839@163.com

Inverse Kinematic Solution of Industrial Robot Arm With Combination of Screw Theory and Algebraic Methods

  • 摘要: 针对工业机械臂逆运动学解算的问题,提出一种结合旋量方法和代数方法的逆运动学新解法。通过旋量的方法将工业机械臂整体逆运动学问题进行分解,利用Paden-kahan逆运动学子问题求解。并在该基础上利用工业机械臂的结构特点,利用代数方法进一步简化末端腕部三个关节的问题求解。以安川公司MH6六自由度工业机械人为例,验证算法正确性。实验表明:该方法可以获得正确的八组逆解并在旋量解逆运动学的基础上有效减少了中间计算步骤,降低了时间复杂度和空间复杂度。
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出版历程
  • 收稿日期:  2016-11-18
  • 刊出日期:  2017-08-05

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