INVERSE KINEMATIC SOLUTION TO A CALIBRATED PUMA-560 INDUSTRIAL ROBOT

被引：10

作者：

CHEN, N

PARKER, GA

机构：

[1] Department of Mechanical Engineering, University of Surrey, Guildford

来源：

CONTROL ENGINEERING PRACTICE | 1994年 / 2卷 / 02期

关键词：

ROBOTS; INVERSE KINEMATICS; ROBOT KINEMATIC CONTROL; ROBOT CALIBRATION; RECURSIVE ALGORITHMS;

D O I：

10.1016/0967-0661(94)90203-8

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 [计算机科学与技术];

摘要：

Robot calibration techniques provide a practical approach to improve the accuracy of industrial robot manipulators. A problem associated with the calibrated results is that the inverse kinematic solution to the calibrated kinematic model becomes difficult to resolve. This paper presents a method for solving the inverse kinematics problem of an S-model calibrated Puma 560 robot. It is a numerical iterative approach based on the closed-form inverse kinematic solution to the nominal Puma kinematic model. The reported method is accurate, efficient and suitable for real-time applications.

引用

页码：239 / 245

页数：7

共 13 条

[1]

ON THE NUMERICAL-SOLUTION OF THE INVERSE KINEMATIC PROBLEM [J].