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《Journal of Beijing University of Aeronautics and Astronautics》 2007-06
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Algorithm combined analytical and numerical solutions for robot inverse kinematics

Liu DaWang Tianmiao(School of Mechanical Engineering and Automation,Beijing University of Aeronautics and Astronautics,Beijing 100083,China)  
Aiming at some robot configurations which can′t be resolved by analytical solution,an inverse kinematics algorithm,in which analytical and numerical solutions are combined,was proposed.This algorithm simplified the previous method to search a suitable object function,and then iteratively solved the one-dimensional joint variable,by which the other joint variables could be derived.The algorithm developed here performed a kinematics inversion of a 5 degree of freedom robot with no closed-form solutions in less than 3 ms using a desktop computer,an order of magnitude faster than the times found in the literature.This method is simple and fast enough to be suitable for real-time manipulator control.This approach does not require computation of the forward kinematics and can be used with manipulators of any geometry,although it is most efficient when applied to orthogonal manipulators.
【Fund】: 国家自然科学基金资助项目(60525314);; 国际科技合作计划资助项目(2006DFA1229);; 教育部留学归国基金资助项目
【CateGory Index】: TP242
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