Inverse kinematics analysis for 6 degree-of-freedom modular manipulator

被引：14
|
作者：
Jiang, Hong-Chao [1 ,2 ]
Liu, Shi-Rong [2 ]
Zhang, Bo-Tao [1 ,2 ]
机构：
[1] Institute of Automation, East China University of Science and Technology, Shanghai 200237, China
[2] Institute of Automation, Hangzhou Dianzi University, Hangzhou 310018, China
来源：
Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science) | 2010年 / 44卷 / 07期
关键词：
Motion planning - Manipulators - Inverse problems - Degrees of freedom (mechanics);
D O I：
10.3785/j.issn.1008-973X.2010.07.021
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
An inverse kinematics procedure was proposed aimed at the developed 6 degree-of-freedom (DOF) modular manipulator. The kinematics of the manipulator was analyzed according to the structural characteristic and the kinematics constraint. A forward kinematics model of the manipulator was conducted, and the complete analytical solution of the inverse kinematics was obtained. The Denavit-Hartenberg (D-H) method was used to describe the workspace of the manipulator, resulting in the forward kinematics model with angle variables under the kinematics constraint of the manipulator. The solvability of the forward kinematics model was analyzed. Then the complete analytical solution of the inverse kinematics can be acquired by solving the forward kinematics model with the inverse matrix analysis. Simulation results verified the correctness of the forward kinematics model and the inverse kinematics solution. The inverse kinematics results can be further used for the precise location of end-effector and the motion planning.
引用
收藏
页码：1348 / 1354
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