机械科学与技术2017，Vol.36Issue(8)：1224-1229,6.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
Inverse Kinematic Solution of Industrial Robot Arm With Combination of Screw Theory and Algebraic Methods
摘要
Abstract
According to the industrial manipulator inverse kinematics problems,a new method combining screw theoryand algebra method is proposed.The inverse kinematics problem of robot arm is decomposed by screw theory,the Paden-kahan inverse solution is used to solve the problem.Based on the structure characteristics of industrial manipulator,the algebra method is used to further simplify the solution of the three joints of the wrist.For example,the Yaskawa motoman-MH6,a 6 degrees of freedom industrial robot,is used to verify the correctness of the inverse kinematics algorithm.The experimental results show that the method can get 8 inverse solutions correctly and effectively to reduce the intermediate calculation steps and the time and space complexity compared with the existing methods.关键词
工业机器人/指数基建模(POEs)/逆运动学/旋量理论Key words
industry robot/product of exponentials (POEs)/invert kinematic/screw theory分类
信息技术与安全科学引用本文复制引用
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):1224-1229,6.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 （2015GZ0027）
