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Rigorous Algorithm for Solving the Inverse Kinematics of a Manipulator ARM

机译：一种求解机械臂aRm逆运动学的严格算法

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In this report, the kinematics of an articulated manipulator are studied, and an algorithm, based on a polynomial expression, is proposed which allows exact solutions of the inverse problem for a type of manipulator structure. Compared to the traditional methods, the present approach permits to find all feasible solutions of the inverse problem of the manipulator for a specified location and orientation. The algorithm for the solution was implemented in the computer code ARM2 for a six degree-of-freedom manipulator. The results of computer simulation of the direct and inverse kinematics showed that numerical solutions were sufficiently reliable. This approach will be applicable to other types of manipulator configurations with rotary and revolutionary joints. (ERA citation 12:028577)

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作者
Sasaki, S.;
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年度 1986
页码 1-69
总页数 69
原文格式 PDF
正文语种 eng
中图分类工业技术;
关键词
Manipulators; A Codes; Algorithms; Configuration; Joints; Mathematical Models; Mechanical Structures; Numerical Solution; Orientation; Reliability;

机译：机械手; a代码;算法;配置;接头;数学模型;机械结构;数值解;定位;可靠性;

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1. Using cuckoo optimization algorithm and imperialist competitive algorithm to solve inverse kinematics problem for numerical control of robotic manipulators [J] . Bayati Mostafa Proceedings of the Institution of Mechanical Engineers . 2015,第i5期

机译：利用布谷鸟优化算法和帝国主义竞争算法解决机器人机械臂逆运动学问题
2. A novel algorithm by combining nonlinear workspace partition with neural networks for solving the inverse kinematics problem of redundant manipulators [J] . Dong Hui, Li Chen, Wu Wentao, Mechanical Sciences . 2021,第1期

机译：用神经网络结合非线性工作空间分区来解决冗余机械手逆运动学问题的新颖算法
3. Chaos-based Vortex Search algorithm for solving inverse kinematics problem of serial robot manipulators with offset wrist [J] . Applied Soft Computing . 2020,第期

机译：基于混沌的涡旋搜索算法，用于解决偏移手腕串行机器人操纵器的逆运动学问题
4. A novel algorithm combined with single mapping workspace and Genetic Algorithm for solving inverse kinematic problem of redundant manipulators [C] . Hui Dong, Wentao Wu, Ligang Yao, IFToMM World Congress on Mechanism and Machine Science . 2019

机译：一种新型算法与单映射工作空间和求解冗余操纵器逆运动算法的遗传算法
5. 1. The Human Arm Redundancy - A New Approach for the Inverse Kinematic Problem 2. Kinematics of Locomotion with Emotion. [D] . Barliya, Avi. 2010

机译：1.人类手臂冗余-运动学反问题的新方法2.运动与情感的运动学。
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

机译：解决机器人手臂逆运动学的一种新的人工神经网络方法（Denso VP6242）
7. Solving Approach of Inverse Kinematics for Manipulators Based on Improved Adaptive Niche Genetic Algorithm [O] . Huizhen Yang, Xiyang Liu 2019

机译：基于改进自适应性遗传算法的机械手逆运动学求解方法
8. Computer Code ARM1 for Solving the Inverse Kinematics of a Six-Link Manipulator ARM [R] . 1986

机译：用于求解六连杆机械手aRm逆运动学的计算机代码aRm1

Rigorous Algorithm for Solving the Inverse Kinematics of a Manipulator ARM

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