An Efficient Solution of Differential Inverse Kinematics Problem for Wrist-Partitioned Robots

Chi Haur Wu, Kuu-Young Young

研究成果: Letter同行評審

4 引文 斯高帕斯(Scopus)

摘要

An efficient approach is presented for solving the inverse Jacobian problem for wrist-partitioned robots; specifically, the differential inverse kinematics problem. By selecting the wrist coordinate frame as the reference coordinate frame, a simplified Jacobian relation can be obtained for deriving a set of orthogonal bases for the screw system. From these orthogonal screws, the instantaneous Cartesian motion can be separated into translational and rotational parts for solving the differential joint variable rates. As a result, a set of concise, closed-form equations for solving the above inverse problem can be easily generated. For illustration, PUMA 560 robot is selected as an example. Based on the simplified equations, the exact form of the inverse Jacobian matrix can also be obtained.

原文English
頁(從 - 到)117-123
頁數7
期刊IEEE Transactions on Robotics and Automation
6
發行號1
DOIs
出版狀態Published - 1 1月 1990

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