INVERSE KINEMATICS OF 6-DEGREE OF FREEDOM GENERAL AND SPECIAL MANIPULATORS USING SYMBOLIC COMPUTATION

被引：17

作者：

MAVROIDIS, C

OUEZDOU, FB

BIDAUD, P

机构：

[1] Laboratoire de Robotique de Paris, Universite Pierre et Marie Curie, Tour 66

来源：

ROBOTICA | 1994年 / 12卷

关键词：

INVERSE KINEMATICS; SERIAL MANIPULATORS; SPECIAL MANIPULATORS; SYMBOLIC COMPUTATION;

D O I：

10.1017/S0263574700017975

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents an algorithm that solves the inverse kinematics problem of all six degrees of freedom manipulators, ''general'' or ''special''. A manipulator is represented by a chain of characters that symbolizes the position of prismatic and revolute joints in the manipulator and the special geometry that may exist between its joint axes. One form of the loop closure equation is chosen and the Raghavan and Roth method is used to obtain symbolically a square matrix. The determinant of this matrix yields the characteristic polynomial of the manipulator in one of the kinematic variables. As an example of the use of this algorithm we present the solution to the inverse kinematics problem of the GMF Arc Mate welding manipulator. In spite of its geometry, this industrial manipulator has a non-trivial solution to its inverse kinematics problem.

引用

页码：421 / 430

页数：10

共 20 条

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