Displacement Analysis of a 6R Serial Robot Mechanism Using Conformal Geometric Algebra

被引：1
|
作者：
Huang, Xiguang [1 ]
Zhao, Dishuo [1 ]
机构：
[1] North China Univ Technol, Sch Mech & Mat Engn, Beijing 100041, Peoples R China
来源：
MECHANISM AND MACHINE SCIENCE | 2017年 / 408卷
基金：
中国国家自然科学基金;
关键词：
Displacement analysis; 6R serial robot; Conformal geometric algebra;
D O I：
10.1007/978-981-10-2875-5_71
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we present a novel method for displacement analysis of a 6R serial robot mechanism based on conformal geometric algebra (CGA) method. The forward displacement problem of the mechanism is solved using motor and the inverse displacement problem is solved in a geometrically very intuitive way by handling intersections of spheres, circles, and planes, etc. in CGA. It is shown that this method has the advantages of simple computation and geometrical intuition.
引用
收藏
页码：869 / 878
页数：10
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