Geometric Approach for Inverse Kinematics Analysis of 6-Dof Serial Robot

被引：0
|
作者：
Liu, Yuan [1 ,2 ]
Wang, Daqing [1 ,2 ]
Sun, Jian [2 ]
Chang, Li [1 ,2 ]
Ma, ChengXue [1 ,2 ]
Ge, Yunjian [2 ]
Gao, Lifu [2 ]
机构：
[1] Univ Sci & Technol China, Dept Automat, Hefei 230027, Peoples R China
[2] Chinese Acad Sci, Inst Intelligent Machines, Hefei 230031, Anhui, Peoples R China
来源：
2015 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION | 2015年
关键词：
Denavit-Hartenberg Matrix; Geometric approach; circular interpolation; Motoman robot;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The typical serial robot Motoman with six joints, high-speed and wide-workspace, for which inverse module is designed by Denavit-Hartenberg Matrix. According to D-H Parameters, the forward kinematics solution is analyzed and a Geometric Approach is used to the inverse solution. A simulation example through circular interpolation method on vs2013 shows the effectiveness of the proposed approach by comparing the circles before and after the forward/ inverse kinematics solution. Finally, this paper analysed the characteristics of this algorithm.
引用
收藏
页码：852 / 855
页数：4
相关论文
共 50 条
  • [1] Inverse Kinematics of 6-DOF Robot Based on Conformal Geometric Algebra
    Feng Chun
    Wu Hong-tao
    Miao Qun-hua
    2010 INTERNATIONAL CONFERENCE ON FUTURE CONTROL AND AUTOMATION (ICFCA 2010), 2010, : 52 - 55
  • [2] Inverse Kinematics Solution of a 6-DOF Industrial Robot
    Dash, Kshitish K.
    Choudhury, B. B.
    Senapati, S. K.
    SOFT COMPUTING IN DATA ANALYTICS, SCDA 2018, 2019, 758 : 183 - 192
  • [3] Inverse Kinematics for a 6-DOF Walking Humanoid Robot Leg
    L. Campos-Macías
    O. Carbajal-Espinosa
    A. Loukianov
    E. Bayro-Corrochano
    Advances in Applied Clifford Algebras, 2017, 27 : 581 - 597
  • [4] Inverse Kinematics for a 6-DOF Walking Humanoid Robot Leg
    Campos-Macias, L.
    Carbajal-Espinosa, O.
    Loukianov, A.
    Bayro-Corrochano, E.
    ADVANCES IN APPLIED CLIFFORD ALGEBRAS, 2017, 27 (01) : 581 - 597
  • [5] Inverse Kinematics of 6-DoF Robot Manipulator via Analytic Solution with Conformal Geometric Algebra
    Wang, Jianyu
    Shao, Zhenzhou
    Kang, He
    Zhao, Hongfa
    Song, Guoli
    Guan, Yong
    2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2018, : 2508 - 2513
  • [6] Efficient Implementation of Inverse Kinematics on a 6-DOF Industrial Robot using Conformal Geometric Algebra
    Tordal, Sondre Sanden
    Hovland, Geir
    Tyapin, Ilya
    ADVANCES IN APPLIED CLIFFORD ALGEBRAS, 2017, 27 (03) : 2067 - 2082
  • [7] Efficient Implementation of Inverse Kinematics on a 6-DOF Industrial Robot using Conformal Geometric Algebra
    Sondre Sanden Tørdal
    Geir Hovland
    Ilya Tyapin
    Advances in Applied Clifford Algebras, 2017, 27 : 2067 - 2082
  • [8] Kinematics analysis and trajectory planning of 6-DOF robot
    Zheng, Xuesong
    Zheng, Yujie
    Shuai, Yong
    Yang, Jiping
    Yang, Shuang
    Tian, Ye
    PROCEEDINGS OF 2019 IEEE 3RD INFORMATION TECHNOLOGY, NETWORKING, ELECTRONIC AND AUTOMATION CONTROL CONFERENCE (ITNEC 2019), 2019, : 1749 - 1754
  • [9] Inverse Kinematics and Design of a Novel 6-DoF Handheld Robot Arm
    Gregg-Smith, Austin
    Mayol-Cuevas, Walterio W.
    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2016, : 2102 - 2109
  • [10] Bio-inspired Approach for Inverse Kinematics of 6-DOF Robot Manipulator with Obstacle Avoidance
    Abainia, Kheireddine
    Ben Ali, Yamina Mohamed
    2018 3RD INTERNATIONAL CONFERENCE ON PATTERN ANALYSIS AND INTELLIGENT SYSTEMS (PAIS), 2018, : 207 - 214
12345