毕诸明, 蔡鹤皋. 六自由度操作手的逆运动学问题[J]. 机器人, 1994, 16(2): 92-97.
引用本文: 毕诸明, 蔡鹤皋. 六自由度操作手的逆运动学问题[J]. 机器人, 1994, 16(2): 92-97.
BI Zhuming, CAI Hegao. INVERSE KINEMATICS PROBLEM OF 6-DOF MANIPULATOR[J]. ROBOT, 1994, 16(2): 92-97.
Citation: BI Zhuming, CAI Hegao. INVERSE KINEMATICS PROBLEM OF 6-DOF MANIPULATOR[J]. ROBOT, 1994, 16(2): 92-97.

六自由度操作手的逆运动学问题

INVERSE KINEMATICS PROBLEM OF 6-DOF MANIPULATOR

  • 摘要: 本文将六自由度操作手分解为位置结构和姿态结构,利用转换矩阵法对两结构进行了详细的逆运动学分析,在此基础上建立了操作手的运动学求逆算法,与一般的迭代算法或优化算法相比较,本算法收敛速度快1,而且能得到满足约束的全部解,与解析方法相比较,它具有通用性的优点,尤其适用于机器人仿真系统中.

     

    Abstract: The paper divides 6-DOF manipulator into two sub-structures, the position structure and posturestructure, carries on the analysis of inverse kinematics respectively-via translating arrays. Based on it, an al-gorithm is established to resolve the inverse kinematics. Compared with previously iterative algorithm, itneeds less iterations, and it is popular over the analytics, so it is suitable in Robot Simulation System.

     

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