Novel inverse kinematic approaches for robot manipulators with Pieper-Criterion based geometry
文献类型：期刊论文
| 作者 | Liu, Huashan; Zhang Y(张阳) ; Zhu SQ(朱世强)
|
| 刊名 | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
 |
| 出版日期 | 2015 |
| 卷号 | 13期号:5页码:1242-1250 |
| 关键词 | Efficient algorithm inverse kinematics robot manipulator singularity |
| ISSN号 | 1598-6446 |
| 产权排序 | 2 |
| 通讯作者 | Liu, Huashan |
| 中文摘要 | In this paper, the inverse kinematics (IK) for robot manipulators with Pieper-Criterion based geometry is investigated from a novel perspective. Different from the traditional inverse transformation method, properties on orthogonal matrix, dot product operation and block matrix are synthetically involved in the proposed schemes to help simplify the IK solving, where the IK matrix equations are transformed into pure algebraic equations without any complex calculations of the inverses for transformation matrices. In the meantime, the linear combinations of related equations in the IK solving ensure the solutions free of extraneous roots, which enhances the computational efficiency further. Moreover, the singularity problem is fully addressed for a specific robot manipulator of such kind. Finally, experimental tests are provided to verify the proposed IK schemes. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems |
| 研究领域[WOS] | Automation & Control Systems |
| 关键词[WOS] | OF-EXPONENTIALS FORMULA ; SERIAL MANIPULATORS ; GENERAL 6R ; ALGORITHM ; SINGULARITIES ; ARM |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000361756300021 |
| 源URL | [http://ir.sia.cn/handle/173321/17120]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 推荐引用方式 GB/T 7714 | Liu, Huashan,Zhang Y,Zhu SQ. Novel inverse kinematic approaches for robot manipulators with Pieper-Criterion based geometry[J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS,2015,13(5):1242-1250. |
| APA | Liu, Huashan,Zhang Y,&Zhu SQ.(2015).Novel inverse kinematic approaches for robot manipulators with Pieper-Criterion based geometry.INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS,13(5),1242-1250. |
| MLA | Liu, Huashan,et al."Novel inverse kinematic approaches for robot manipulators with Pieper-Criterion based geometry".INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 13.5(2015):1242-1250. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。