机器人2016，Vol.38Issue(4)：486-494,9.DOI:10.13973/j.cnki.robot.2016.0486
一类不满足Pieper准则的机器人逆运动学解析解获取方法
Acquisition Method of Inverse Kinematics Analytical Solutions for a Class of Robots Dissatisfying the Pieper Criterion
摘要
Abstract
The analytical solution of robot inverse kinematics can’t be obtained by traditional methods of kinematical modeling when the robot configuration doesn’t conform to the“Pieper criterion”. For this problem, a new method of ex-changing the establishment order of adjacent joint axes is presented based on invariance property of the forward kinematics results after exchanging the establishment order. The robot configuration conditions for applying the proposed method are given. A minimally invasive surgery robot which doesn’t conform to the“Pieper criterion”is taken as an example, the precise analytical solution is obtained by the proposed method, and the correctness of the proposed method is verified through Matlab Simulink.关键词
Pieper准则/解析解/逆运动学/运动学建模Key words
Pieper criterion/analytical solution/inverse kinematics/kinematical modeling分类
信息技术与安全科学引用本文复制引用
于凌涛,王文杰,王正雨,谷庆,王岚..一类不满足Pieper准则的机器人逆运动学解析解获取方法[J].机器人,2016,38(4):486-494,9.基金项目
国家自然科学基金（61203358/F0306）；黑龙江省自然科学基金（F2015034）． （）
