贺昱曜. 机器人PUMA560逆运动方程的新解法[J]. 机器人, 1989, 11(3): 19-26.
引用本文: 贺昱曜. 机器人PUMA560逆运动方程的新解法[J]. 机器人, 1989, 11(3): 19-26.
HE Yuyao. NEW EFFICIENT ALGORITHM FOR INVERSE KINEMATICS OF ROBOT PUMA560[J]. ROBOT, 1989, 11(3): 19-26.
Citation: HE Yuyao. NEW EFFICIENT ALGORITHM FOR INVERSE KINEMATICS OF ROBOT PUMA560[J]. ROBOT, 1989, 11(3): 19-26.

机器人PUMA560逆运动方程的新解法

NEW EFFICIENT ALGORITHM FOR INVERSE KINEMATICS OF ROBOT PUMA560

  • 摘要: 本文提出了一种求解机器人PUMA560逆运动方程的新算法:几何一解析法.该方法充分利用了机器人PUMA560简单的几何结构及解析法的优点,使得求解过程中费时的超越函数调用大大减少.运算结果表明,计算时间较几何法和解析法减少了25%以上.对于机器人实时在线控制,具有很大的实用价值.该算法已用于机器人双手协调控制.

     

    Abstract: A so-called geometric-analytical algorithm,which is a new efficient algorithm for the inverse kinematics of robot PUMA 560,is presented.It is based on a method that fully utilizcs the special geome-try of such a robot and takes advantage of analytical algorithm.Transcendental function calls requiringmuch computation time are greatly reduced.Computation results demonstrate that the computation timeis reduced by over 25 per cent,compared with that of geometric algorithm or analytical algorithm.It hasgreat value for on-line robot control and has actually been used for coordinated motion of two industrialrobots.

     

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