Generalized solution for a sub-problem of inverse kinematics based on product of exponential formula
| Autor: | Jeh Won Lee, TaeWon Seo, Hee Sung An |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Inverse kinematics Mechanical Engineering Skew Inverse 02 engineering and technology Kinematics Serial manipulator Computer Science::Robotics Exponential formula 020901 industrial engineering & automation Mechanics of Materials Product (mathematics) Screw theory 0202 electrical engineering electronic engineering information engineering Applied mathematics 020201 artificial intelligence & image processing Mathematics |
| Zdroj: | Journal of Mechanical Science and Technology. 32:2299-2307 |
| ISSN: | 1976-3824 1738-494X |
| DOI: | 10.1007/s12206-018-0441-0 |
| Popis: | Inverse kinematics presents nontrivial problems in serial manipulators as there is no unique, generalized solution that is applicable to various configurations. Till date, limited results exist on skew configurations, while the published problem definitions and solutions are physically nonintuitive. We present a generalized solution for a subproblem of inverse kinematics based on an exponential formula product, in accordance to a geometrically intuitive method. A case study with a six-degree-of-freedom manipulator is presented to verify the effectiveness of the proposed definition and solution. The latter can be adopted to analyze inverse kinematic problems applicable to various serial manipulators. |
| Databáze: | OpenAIRE |
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