Geometric algorithm for the inverse kinematics of redundant manipulators

被引：0

作者：

Li Sheng ^{[1
]}

Wang Yi-qing ^{[1
]}

Chen Qing-wei ^{[1
]}

Hu Wei-li ^{[1
]}

机构：

[1] Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Peoples R China

来源：

PROCEEDINGS OF THE 2007 CHINESE CONTROL AND DECISION CONFERENCE | 2007年

关键词：

redundant manipulators; inverse kinematics; geometric method;

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：

Aiming at some problem in the inverse kinematics of the redundant manipulators, a fast algorithm based on the geometric theory is proposed, and some disadvantages of the inverse kinematics method existed, such as computing complex, compute time-consuming, are overcome. And the knot problem in the inverse kinematics of redundant manipulator can be avoided completely. Finally, simulation results show the effectiveness of the proposed method.

引用

页码：411 / 415

页数：5

共 8 条

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