DocumentCode :
3274821
Title :
A new approach to inverse kinematic solution for a partially decoupled robot
Author :
Lei Zhang ; Junqiu Zuo ; Xingguo Zhang ; Xingtian Yao ; Liguo Shuai
Author_Institution :
Sch. of the Mech. Eng., Nantong Univ. Nantong, Nantong, China
fYear :
2015
fDate :
20-22 May 2015
Firstpage :
55
Lastpage :
59
Abstract :
Conventional D-H model based inverse kinematic solution algorithms have to hypothesize that d6 =0 at the end of the robot hand, or the joint variables of D-H based kinematic equations can hardly be isolated to be solved. In practical application, d6 ≠ 0 usually occurs, hence it is required for supplemental transformation between the last frame of the D-H models and real operation frame, which decreases the efficiency. In this paper, a new inverse kinematic solution without the hypothesis of d6 =0 is proposed. We found that the joint variables of the partially decoupled robot can be separated without great difficulty even though d6 ≠ 0. The new approach uses a new multiplication sequence of the inverse matrix for solving the variables of the kinematic equation of the robot. The inverse solution process is straightforward and computationally cheap. Last, some exemplifications are given to valid the accuracy of the proposed approach.
Keywords :
robot kinematics; D-H based kinematic equations; D-H model based inverse kinematic solution algorithms; inverse matrix; inverse solution process; kinematic equation; partially decoupled robot; End effectors; Joints; Kinematics; Mathematical model; Service robots; decoupled; inverse kinematics; robot;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control, Automation and Robotics (ICCAR), 2015 International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4673-7522-1
Type :
conf
DOI :
10.1109/ICCAR.2015.7166001
Filename :
7166001
Link To Document :
بازگشت