Novel inverse kinematic approaches for robot manipulators with Pieper-Criterion based geometry

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	Novel inverse kinematic approaches for robot manipulators with Pieper-Criterion based geometry
	Liu, Huashan; Zhang Y(张阳); Zhu SQ(朱世强)
刊名	INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
	2015
卷号	13 期号:5 页码:1242-1250
关键词	Efficient algorithm inverse kinematics robot manipulator singularity
ISSN号	1598-6446
通讯作者	Liu, Huashan
产权排序	2
中文摘要	In this paper, the inverse kinematics (IK) for robot manipulators with Pieper-Criterion based geometry is investigated from a novel perspective. Different from the traditional inverse transformation method, properties on orthogonal matrix, dot product operation and block matrix are synthetically involved in the proposed schemes to help simplify the IK solving, where the IK matrix equations are transformed into pure algebraic equations without any complex calculations of the inverses for transformation matrices. In the meantime, the linear combinations of related equations in the IK solving ensure the solutions free of extraneous roots, which enhances the computational efficiency further. Moreover, the singularity problem is fully addressed for a specific robot manipulator of such kind. Finally, experimental tests are provided to verify the proposed IK schemes.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Automation & Control Systems
研究领域[WOS]	Automation & Control Systems
关键词[WOS]	OF-EXPONENTIALS FORMULA ; SERIAL MANIPULATORS ; GENERAL 6R ; ALGORITHM ; SINGULARITIES ; ARM
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000361756300021
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/17120]
专题	沈阳自动化研究所_空间自动化技术研究室
推荐引用方式 GB/T 7714	Liu, Huashan,Zhang Y,Zhu SQ. Novel inverse kinematic approaches for robot manipulators with Pieper-Criterion based geometry[J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS,2015,13(5):1242-1250.
APA	Liu, Huashan,Zhang Y,&Zhu SQ.(2015).Novel inverse kinematic approaches for robot manipulators with Pieper-Criterion based geometry.INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS,13(5),1242-1250.
MLA	Liu, Huashan,et al."Novel inverse kinematic approaches for robot manipulators with Pieper-Criterion based geometry".INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 13.5(2015):1242-1250.