| Autor: |
Ilias Nanyageev, Igor Dalyaev, Igor Shardyko, Oleg Shmakov |
| Rok vydání: |
2019 |
| Předmět: |
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| Zdroj: |
Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin's Readings” ISBN: 9789811392665 |
| DOI: |
10.1007/978-981-13-9267-2_10 |
| Popis: |
With the growing number of various robots in the world, the task of inverse kinematics still presents interest for researchers. In this paper, we show a group of robots with similar convenient structure, named simplified tree structure (STS), and suggest an approach to find a solution for these robots in a simple way. The approach is demonstrated on the example of a robot with three branches which can form different kinematic loops. An algorithm is also presented that unifies IK solution for a 5-DoF arm of certain structure with usual sufficient 6-DoF arm. Both algorithms are verified on 3-D models in Unity3D engine. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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