An improved inverse kinematics solution of 6R-DOF robot manipulators with euclidean wrist using dual quaternions

Leoro Josuet, Betancourt Carlos, Lin Hsien-I, Te-Sheng Hsiao*, Wang Chun-Sheng

*此作品的通信作者

研究成果: Conference contribution同行評審

4 引文 斯高帕斯(Scopus)

摘要

The present work focuses on the development of a methodology that can be used to solve the inverse kinematics of 6R robot manipulators with Euclidean wrist. Dual quaternions are used as screw motion operators to perform line transformations to the joint axes. The transformations are performed after each joint angle is found. This process accommodates the robot pose on each step from the initial pose to the final pose when all the joint angles have been found. In each step, the appropriate sub problems of Paden-Kahan are used to find the joint angles. The main contribution of the presented methodology is that it is a more general solution than previous approaches. Additionally, an extension of the second sub problem of Paden-Kahan is derived for parallel axes. The proposed algorithm can be used to solve the inverse kinematics problem of most of the 6R robot manipulator configurations, with or without shoulder offset, and with or without intersecting axes of the first and second joint.

原文English
主出版物標題2016 International Automatic Control Conference, CACS 2016
發行者Institute of Electrical and Electronics Engineers Inc.
頁面77-82
頁數6
ISBN(電子)9781509041084
DOIs
出版狀態Published - 10 7月 2017
事件2016 International Automatic Control Conference, CACS 2016 - Taichung, Taiwan
持續時間: 9 11月 201611 11月 2016

出版系列

名字2016 International Automatic Control Conference, CACS 2016

Conference

Conference2016 International Automatic Control Conference, CACS 2016
國家/地區Taiwan
城市Taichung
期間9/11/1611/11/16

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