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《Journal of Zhejiang University(Engineering Science)》 2014-01
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Inverse kinematics sub-problem solution algorithm for serial robot based on screw theory

CHEN Qing-cheng;ZHU Shi-qiang;WANG Xuan-yin;ZHANG Xue-qun;State Key Laboratory of Fluid Power Transmission and Control,Zhejiang University;  
A novel inverse kinematics sub-problem solution based on screw theory was proposed in order to improve the operation efficiency of inverse kinematics for serial robot and clarify the geometrical significance.The solution can be described as‘rotating about three non-intersecting axes of which two axes are parallel and non co-planar to the third'.Taking 6DOF serial robot Qianjiang I as an example,the kinematics model based on screw theory was constructed by introducing the product of exponentials(POEs) formula and the inverse kinematics was solved by using the proposed novel inverse kinematics sub-problem solution.The full inverse kinematics problem was reduced into appropriate sub-problems involving three basic known Paden-Kahan sub-problems.The reliability and real-time performance of the proposed algorithm was testified by checking computations and simulation.
【Fund】: 浙江省自然科学基金资助项目(Y1100693);; 浙江省重点科技创新团队资助项目(2009R50014)
【CateGory Index】: TP242
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