Inverse Kinematics and Application of a Type of Motion Chain Based on Screw Theory and Analytic Geometry
For the RRRR motion chain, a kind of sub-problem which can be described as rotating about four not intersecting axes to a given point and adjacent axes are parallel or vertical intersecting or vertical skew is proposed. By combining analytic geometry and screw theory exponential product method, the inverse kinematics solution of the RRRR motion chain is derived, and joint axes relations of motion chain being fit for the method are presented. The multi-solutions is analyzed and the geometric meanings is explained. The method has obvious geometric meanings and the solution can be verified by with the help of drawing. Using the method 6-R manipulator inverse solution is analyzed, and feasibility of this method is validated through the instance with exact parameters.
screw theory inverse kinematics analytic geometry RRRR motion chain
Zhang Shuzhen Huang Jianlong Kong Minxiu Sun Lining
College of Mechano-Electronic Engineering Lanzhou University of Technology Lanzhou, 730050, P.R.Chin Robot Research Institue Harbin Institute of Technology Harbin, 150001, P.R.China
国际会议
太原
英文
680-684
2010-10-22（万方平台首次上网日期，不代表论文的发表时间）