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- 저자 : Josuet Leoro (검색결과 1 건)
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Josuet Leoro,Tesheng Hsiao,Carlos Betancourt 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.1
Geometric inverse kinematics procedures that divide the whole problem into several subproblems withknown solutions, and make use of screw motion operators have been developed in the past for 6R robot manipulators. These geometric procedures are widely used because the solutions of the subproblems are geometricallymeaningful and numerically stable. Nonetheless, the existing subproblems limit the types of 6R robot structuralconfigurations for which the inverse kinematics can be solved. This work presents the solution of a novel geometricsubproblem that solves the joint angles of a general anthropomorphic arm. Using this new subproblem, an inversekinematics procedure is derived which is applicable to a wider range of 6R robot manipulators. The inverse kinematics of a closed curve were carried out, in both simulations and experiments, to validate computational cost andrealizability of the proposed approach. Multiple 6R robot manipulators with different structural configurations wereused to validate the generality of the method. The results are compared with those of other methods in the screwtheory framework. The obtained results show that our approach is the most general and the most efficient.
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