Practical Algorithm for Solving Real Time Inverse Kinematics of Industrial 7R Robot

摘要：

The practical algorithm solves real time inverse kinematics of industrial 7R Robot. Here D-H method is used to set up a closed-form 4×4 matrix equation of the 7R Robot, and then sine and cosine of joint angles is transformed to complex exponential form, 10 equations in same form are obtained. We extract the coefficient of every term to construct a 16×16 real number matrix. And the inverse kinematics of 7R Robot can be changed into eigenvalues and eigenvectors problem. For the extra revolute joint of the 7R redundant robot, minimize the condition number of all the solutions, the best one can be obtained. A numerical example shows that the program written in C++ language runs fast enough in the real time control of an industrial robot.

关键词： dustrial 7R Robot Inverse Kinematics Eigenvalues and Eigenvectors Optimization

作者: Pin Wang Dong Li Di Zhang Kening Liu Xiuying Ni

作者单位: School of Jiao tong Ludong University Yantai, Shandong Province, China

会议类型: 国际会议

会议名称: 2007 IEEE International Conference on Automation and Lofistics

会议地点: 山东济南

会议语种:英文

在线出版日期: 2007-08-18（万方平台首次上网日期，不代表论文的发表时间）