A New Solution to the Inverse Position Analysis of the Redundant Serial Robot

被引:0
|
作者
赵永杰 [1 ,2 ]
董兴建 [3 ]
机构
[1] Department of Mechatronics Engineering,Shantou University
[2] State Key Laboratory of Mechanical System and Vibration,Shanghai Jiaotong University
[3] Shantou Institute for Light Industrial Equipment Research
基金
中国博士后科学基金; 中国国家自然科学基金;
关键词
inverse position analysis; redundant serial robot; optimization method;
D O I
暂无
中图分类号
TP242 [机器人];
学科分类号
1111 ;
摘要
A new solution to the inverse position analysis of the redundant serial robot is presented.The inverse position analysis problem of the redundant serial robot is transformed into a minimization problem and then the optimization method is adopted to solve the nonlinear least square problem with the analytic form of a new Jacobi matrix.In this way,the inverse solution of the redundant serial robot can be searched out quickly under the desired precision when the positions of the three non-collinear end effector points are given.The inverse position analysis of the 7R redundant serial robot is illustrated as an example and the simulation results verify the efficiency of the proposed algorithm.
引用
收藏
页码:610 / 614
页数:5
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