A NEW DECOUPLING METHOD FOR SYMBOLIC SOLUTION OF THE INVERSE KINEMATICS OF ROBOTS

FENG Qiaosheng, LUI Danfei. A NEW DECOUPLING METHOD FOR SYMBOLIC SOLUTION OF THE INVERSE KINEMATICS OF ROBOTS[J]. ROBOT, 1997, 19(2): 143-146,150.

Citation:

FENG Qiaosheng, LUI Danfei. A NEW DECOUPLING METHOD FOR SYMBOLIC SOLUTION OF THE INVERSE KINEMATICS OF ROBOTS[J]. ROBOT, 1997, 19(2): 143-146,150.

Citation:

FENG Qiaosheng, LUI Danfei. A NEW DECOUPLING METHOD FOR SYMBOLIC SOLUTION OF THE INVERSE KINEMATICS OF ROBOTS[J]. ROBOT, 1997, 19(2): 143-146,150.

Abstract

The key for symbolically solving the inverse kinematics of robots with a computer is whether the analyticall solution with simple equations in the form asin(x)+bcos(x)=c or ax=b are recursively decoupled. Based upon Pauls ideas, this paper proposes a new decoupling method that can recursively decouple the position equations to obtain the simple and analyticall solvable equations when Pauls method fails. This method is a supplement of Paul method.

FullText(HTML)

Export File