Earticle

초록

영어

Owing to the intensive computation of kinematics module in the real-time control of the industrial robot, this paper sets the six-joint industrial robot as research object and establishes forward and inverse kinematics equations based on the D-H coordinate system. Then，an algorithm of searching the proper inverse kinematic solutions was presented based on the characteristics of the solutions and the geometric structure of the robot. The proposed algorithm control position and orientation comprehensively in the Cartesian coordinate space and gives speed-related Jacobian matrix. The algorithm is simulated on the MATLB and applied to a 6R manipulator in the laboratory to verify the effectiveness. The results indicate that the algorithm can make the robotic joints move smoothly, avoid mutation and have a higher accuracy and running stability.

목차

Abstract
 1. Introduction
 2. Forward Kinematics Equation
 3. Inverse Kinematics Solutions
  3.1 Calculation Process of Inverse Solutions
  3.2 Inverse Optimization
 4. Jacobian
 5. Experiments and Results
 6. Conclusion
 References

키워드

저자

• Mingyu Gao [ HangZhou DianZi University, HangZhou, China ]
• Jiaxiang Lou [ HangZhou DianZi University, HangZhou, China ]
• Yu Zeng [ HangZhou DianZi University, HangZhou, China ]
• Zhanxiong Wu [ HangZhou DianZi University, HangZhou, China ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605