J4  2010, Vol. 44 Issue (7): 1348-1354    DOI: 10.3785/j.issn.1008-973X.2010.07.021
 自动化技术

1.华东理工大学 自动化研究所, 上海 200237; 2.杭州电子科技大学 自动化研究所, 浙江 杭州 310018
Inverse kinematics analysis for 6 degree-of-freedom modular
manipulator
JIANG Hong-chao1,2, LIU Shi-rong2, ZHANG Bo-tao1,2
1. Institute of Automation,East China University of Science and Technology, Shanghai 200237, China;
2. Institute of Automation,Hangzhou Dianzi University, Hangzhou 310018, China
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Abstract:

An inverse kinematics procedure was proposed aimed at the developed 6 degreeoffreedom (DOF) modular manipulator. The kinematics of the manipulator was analyzed according to the structural characteristic and the kinematic constraint. A forward kinematics model of the maniputor was conducted, and the complete analytical solution of the inverse kinematics was obtained. The DenavitHartenberg (DH) method was used to describe the workspace of the manipulator, resulting in the forward kinematics model with angle variables under the kinematic constraint of the manipulator. The solvability of the forward kinematics model was analyzed. Then the complete analytical solution of the inverse kinematics can be acquired by solving the forward kinematics model with the inverse matrix analysis. Simulation results verified the correctness of the forward kinematics model and the inverse kinematics solution. The inverse kinematics results can be further used for the precise location of endeffector and the motion planning.

 : TP 241

引用本文:

JIANG Hong-Chao, LIU Shi-Rong, ZHANG Bei-Chao. Inverse kinematics analysis for 6 degree-of-freedom modular
manipulator. J4, 2010, 44(7): 1348-1354.

链接本文:

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