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

来源：

Journal of Shanghai Jiaotong University(Science) | 2010年 / 15卷 / 05期

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

页码：610 / 614

页数：5

共 50 条

[11] Solution of Inverse Kinematic Problem for Serial Robot Using Quaterninons
Sariyildiz, Emre
Temeltas, Hakan
[J]. 2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS, 2009, : 26 - 31
[12] Closed form inverse kinematics solution for a redundant anthropomorphic robot arm
Pfurner, Martin
[J]. COMPUTER AIDED GEOMETRIC DESIGN, 2016, 47 : 163 - 171
[13] Calculation of the Boundaries and Barriers of the Workspace of a Redundant Serial-parallel Robot using the Inverse Kinematics
Peidro, Adrian
Reinoso, Oscar
Gil, Arturo
Maria Marin, Jose
Paya, Luis
Berenguer, Yerai
[J]. ICINCO: PROCEEDINGS OF THE 13TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 2, 2016, : 412 - 420
[14] Solution of inverse kinematic problem for serial robot based on screw theory
Liao, Liangchuang
Chen, Weibin
Yan, Ding
Shen, Yan
[J]. ACTIVE AND PASSIVE SMART STRUCTURES AND INTEGRATED SYSTEMS XIV, 2020, 11376
[15] INVERSE KINEMATIC SOLUTION OF OBSTACLE AVOIDANCE REDUNDANT ROBOT MANIPULATOR BY BAT ALGORITHMS
Kanagaraj, Ganesan
Masthan, Shahul Abdul Rahim Sheik
Yu, Vincent F.
[J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, 2021, 36 (01): : 18 - 26
[16] Inverse Kinematics of a Serial Robot
Amici, Cinzia
Cappellini, Valter
[J]. INTERNATIONAL SCIENTIFIC CONFERENCE WEEK OF SCIENCE IN SPBPU - CIVIL ENGINEERING (SPBWOSCE-2015), 2016, 53
[17] Impact Motion Analysis and Optimization of Redundant Serial Robot Considering Collision
Chang, Boyan
Zhu, Yongjie
Jin, Guoguang
Song, Yanyan
Li, Xiaoning
Lu, Chunhui
[J]. Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery, 2019, 50 (09): : 413 - 420
[18] A successive approximation algorithm for the inverse position analysis of serial manipulators
Zhao, XH
Peng, SX
[J]. ROBOTICA, 1999, 17 : 487 - 489
[19] Learning of inverse kinematics behavior of redundant robot
Dordevic, GS
Rasic, M
Kostic, D
Surdilovic, D
[J]. ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS, 1999, : 3165 - 3170
[20] The inverse kinematics algorithm of redundant DOF robot
Wang, Y
Wang, L
[J]. ADVANCES IN MATERIALS MANUFACTURING SCIENCE AND TECHNOLOGY, 2004, 471-472 : 592 - 595

← 1 2 3 4 5 →