Inverse Kinematics of 6-DOF Robot Manipulator via Analytic Solution with Conformal Geometric Algebra
文献类型：会议论文
| 作者 | Zhao, Hongfa3; Wang, Jianyu3; Shao, Zhenzhou3; Kang, He2; Song GL(宋国立)1 ; Guan, Yong3
|
| 出版日期 | 2018 |
| 会议日期 | December 12-15, 2018 |
| 会议地点 | Kuala Lumpur, Malaysia |
| 页码 | 2508-2513 |
| 英文摘要 | This paper presents a new inverse kinematics algorithm of 6-DOF robot manipulator via the analytic solution with Conformal Geometric Algebra (CGA). To simplify the calculation, angles of joints 1, 5 and 6 are obtained using the analytic method. On the other hand, the remaining joint angles θ2, θ3 and θ4 are figured out by CGA which describes the geometric relationship intuitively. The proposed method is verified and simulated in Matlab and Rviz, respectively. Experimental results show the high accuracy of proposed approach. Moreover, it can be easily integrated in the motion planning of robot manipulator. |
| 产权排序 | 3 |
| 会议录 | Proceedings of the 2018 IEEE International Conference on Robotics and Biomimetics
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-7281-0376-1 |
| WOS记录号 | WOS:000468772200396 |
| 源URL | [http://ir.sia.cn/handle/173321/24660]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Shao, Zhenzhou |
| 作者单位 | 1.Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang 110015, China 2.Shijiazhaung Branch, China Tower Limited by Share Ltd, Shijiazhuang 050000, China 3.College of Information Engineering, Beijing Advanced Innovation Center for Imaging Technology and Beijing, Key Laboratory of Light Industrial Robot and Safety Verification, Capital Normal University, Beijing 100048, China |
| 推荐引用方式 GB/T 7714 | Zhao, Hongfa,Wang, Jianyu,Shao, Zhenzhou,et al. Inverse Kinematics of 6-DOF Robot Manipulator via Analytic Solution with Conformal Geometric Algebra[C]. 见:. Kuala Lumpur, Malaysia. December 12-15, 2018. |
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。