期刊
MECHANISM AND MACHINE THEORY
卷 159, 期 -, 页码 -出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechmachtheory.2021.104265
关键词
Inverse kinematics; Disconnection and re-connection; Sub-chain; Singularity; Manipulator
资金
- National Natural Science Foundation of China [52075530, 51575407, 51505349, 61733011, 41906177]
- Hubei Provincial Department of Education [D20191105]
- National Defense Pre-Research Foundation of Wuhan University of Science and Technology [GF201705]
- Open Fund of the Key Laboratory for Metallurgical Equipment and Control of Ministry of Education in Wuhan University of Science and Technology [2018B07, 2019B13]
- Open Fund of Hubei Key Laboratory of Hydroelectric Machinery Design & Maintenance in China Three Gorges University [2020KJX02]
We proposed an improved method of disconnection and re-connection for solving the inverse kinematics of a six-DOF manipulator with simple geometry. By determining the position selection of cutting points, attitude setting, re-connection conditions, and equations, we simplified the process of deriving the IK formulas efficiently.
For decades, although the inverse kinematics (IK) problem of six degrees of freedom (DOF) manipulator with general geometry has been solved, there is still needed an efficient and unified method to derive the IK formulas for the six-DOF manipulator with simple geometry. In this paper, we propose an improved method of disconnection and re-connection to achieve this purpose. Firstly, we determined the position selection of the two cutting points and the attitude setting at the first cutting point. Next, we gave the new conditions for the re-connection of the two sub-chains and the corresponding equations. Then, we summarized five methods of cutting the manipulator into two three-DOF sub-chains and corresponding equation deformations, as well as the selection principles of equation deformations. Finally, we used three examples to demonstrate the effectiveness of the method. The results show that the expressions of six joint variables can be derived from only six equations. The solutions of the wrist joint variables are not affected by the singularity. (c) 2021 Elsevier Ltd. All rights reserved.
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