Inverse kinematics problem for 6-DOF space manipulator based on the theory of screws

被引：11

作者：

Xie, Jian ^{[1
]}

Qiang, Wenyi ^{[1
]}

Liang, Bin ^{[2
]}

Li, Cheng ^{[2
]}

机构：

[1] Harbin Inst Technol, Dept Control Sci & Engn, Harbin 150006, Peoples R China

[2] Shenzhen Space Technol Ctr, HIT Res Inst Shenzhen, Shenzhen 518057, Peoples R China

来源：

2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5 | 2007年

关键词：

space manipulator; inverse kinematics;

D O I：

10.1109/ROBIO.2007.4522414

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Space manipulators will play a significant role in the maintenance and repair of space stations and satellites, and other space missions. The inverse kinematics is an important problem in the automatic control of space manipulator. The paper presents a novel method for solving the inverse kinematics problem of 6-DOF space manipulator based on the theory of screws. To solve the inverse kinematics problem, we formulate the kinematics equations of 6-DOF space manipulator and study a novel method. The method can give the analytic solutions of the inverse kinematics problem for 6-DOF space manipulator. The virtual prototyping technology is used to model the 6-dof mechanical arm system of Free-Flying space Robot (FFR) and simulate the space manipulator system, it shows the validity of the method which is presented in this paper. Compared with other methods, the method based on the theory of screws just establish two coordinates, is applicable to real-time control, allows one to directly choose the desired configuration from the multi-solutions and its geometry meaning is obvious.

引用

页码：1659 / +

页数：2

共 50 条

[21] Inverse Kinematics of 6-DOF Robot Based on Conformal Geometric Algebra
Feng Chun
Wu Hong-tao
Miao Qun-hua
[J]. 2010 INTERNATIONAL CONFERENCE ON FUTURE CONTROL AND AUTOMATION (ICFCA 2010), 2010, : 52 - 55
[22] Inverse Kinematics Solution of a 6-DOF Industrial Robot
Dash, Kshitish K.
Choudhury, B. B.
Senapati, S. K.
[J]. SOFT COMPUTING IN DATA ANALYTICS, SCDA 2018, 2019, 758 : 183 - 192
[23] Kinematics Analysis and Simulation of a 6-DOF Humanoid Robot Manipulator
Cui, Yujie
Shi, Pu
Hua, Jianning
[J]. 2010 2ND INTERNATIONAL ASIA CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS (CAR 2010), VOL 2, 2010, : 246 - 249
[24] Kinematics analysis of a 6-DOF Selectively Actuated Parallel Manipulator
Jin, Y
Chen, IM
Yang, GL
[J]. 2004 IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS, VOLS 1 AND 2, 2004, : 231 - 236
[25] The Research of Position Inverse Solution for 6-DOF Manipulator Based on Quaternion Algorithm
Zhao, Zhichao
Sun, Shengqi
Li, Xuebin
[J]. INDUSTRIAL INSTRUMENTATION AND CONTROL SYSTEMS II, PTS 1-3, 2013, 336-338 : 1109 - +
[26] INVESTIGATION OF NEURAL-NETWORK-BASED INVERSE KINEMATICS FOR A 6-DOF SERIAL MANIPULATOR WITH NON-SPHERICAL WRIST
Hargis, Benjamin E.
Demirjian, Wesley A.
Powelson, Matthew W.
Canfield, Stephen L.
[J]. PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2018, VOL 5B, 2018,
[27] Inverse Kinematics for a 6-DOF Walking Humanoid Robot Leg
L. Campos-Macías
O. Carbajal-Espinosa
A. Loukianov
E. Bayro-Corrochano
[J]. Advances in Applied Clifford Algebras, 2017, 27 : 581 - 597
[28] Inverse Kinematics for a 6-DOF Walking Humanoid Robot Leg
Campos-Macias, L.
Carbajal-Espinosa, O.
Loukianov, A.
Bayro-Corrochano, E.
[J]. ADVANCES IN APPLIED CLIFFORD ALGEBRAS, 2017, 27 (01) : 581 - 597
[29] Inverse Kinematics Solution of 6-DOF Manipulator Based on Multi-Objective Full-Parameter Optimization PSO Algorithm
Luo, Sha
Chu, Dianming
Li, Qingdang
He, Yan
[J]. FRONTIERS IN NEUROROBOTICS, 2022, 16
[30] Fault Tolerance Kinematics and Trajectory Planning of a 6-DOF Space Manipulator under a Single Joint Failure
Mu, Zonggao
Zhang, Bing
Xu, Wenfu
Li, Bing
Liang, Bin
[J]. 2016 IEEE INTERNATIONAL CONFERENCE ON REAL-TIME COMPUTING AND ROBOTICS (IEEE RCAR), 2016, : 483 - 488

← 1 2 3 4 5 →