An Algorithm Solving Real Time Inverse Kinematics of Spatial 7R Robot

机译：一种解决空间7R机器人实时逆运动学的算法

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The algorithm solves real time inverse kinematics of spatial general 7R Robot. Useing Devavit-Hartenberg equation to set up a 4 by 4 matrix for the closed-form equation of the 7R Robot, and transform sine and cosine of joint angles to complex exponential form, 10 equations in complex number form are obtained. Extract the coefficient of every term and construct a 16 by 16 real number matrix. The inverse kinematics of 7R Robot can be changed into an eigenvalues and eigenvectors problem. For the extra revolute joint of the 7R redundant robot, minimize the condition number of all the solutions, the best one can be obtained. An example shows that the program written in C++ language runs fast enough in the real time control of an industrial robot.

机译：该算法解决了空间通用7R机器人的实时逆运动学问题。使用Devavit-Hartenberg方程为7R机器人的闭式方程建立4×4矩阵，并将关节角的正弦和余弦变换为复指数形式，得到10个复数形式的方程。提取每个项的系数，并构造一个16 x 16的实数矩阵。 7R机器人的逆运动学可以更改为特征值和特征向量问题。对于7R冗余机器人的额外旋转关节，请最小化所有解决方案的条件数，以获得最佳解决方案。一个例子表明，用C ++语言编写的程序在工业机器人的实时控制中运行得足够快。

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来源
《International Conference on Mechanical Engineering and Mechanics vol.1; 20051026-28; Nanjing(CN)》|2005年|P.355-358|共4页
会议地点 Nanjing(CN)
作者
Pin WANG; Qizheng LIAO; Shimin WEI;
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作者单位

Automation School, Beijing University of Posts and Telecommunications, Beijing 100876, China;

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会议组织
原文格式 PDF
正文语种 eng
中图分类机械设计、计算与制图;
关键词
inverse kinematics; kinematics equations; decomposing coefficient; eigenvalues and eigenvectors; optimization;

机译：逆运动学;运动学方程;分解系数;特征值和特征向量;优化;

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2. Two optimization algorithms for solving robotics inverse kinematics with redundancy [J] . Jianxin XU, Wei WANG, Yuanguang SUN 控制理论与应用（英文版） . 2010,第002期
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4. Practical Algorithm for Solving Real Time Inverse Kinematics of Industrial 7R Robot [C] . IEEE International Conference on Automation and Logistics . 2009

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5. An inverse kinematic solution to the 6 degree of freedom Kuka 662 robot by reduction to an 8th order univariate polynomial,or a 4th order bivariate polynomial, with up to 4 real solutions [D] . Kaufman, Richard D. 2009

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6. A New Artificial Neural Network Approach in Solving Inverse Kinematics of Robotic Arm (Denso VP6242) [O] . Ahmed R. J. Almusawi, L. Canan Dülger, Sadettin Kapucu 2016

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7. A hybrid swarm intelligence of artificial immune system tuned with Taguchi–genetic algorithm and its field-programmable gate array realization to optimal inverse kinematics for an articulated industrial robotic manipulator [O] . Hsu-Chih Huang, Sendren Sheng-Dong Xu, Chang Han Wu 2016

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8. Numerical Algorithm for Solving Robot Inverse Kinematics [R] . Gupta, K. C., Singh, V. K. 1987

机译：机器人逆运动学求解的数值算法

An Algorithm Solving Real Time Inverse Kinematics of Spatial 7R Robot

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