关键词: 工作空间, 卷积定理, 逆运动学, 平面冗余机器人

Abstract: By combining the structural parameters of the planar redundant robot with Fourier transform and convolution theorem, a nonlinear working space density function is set up to describe the working space of the robot. The simulation results based on the working space density function are compared with data by Monte Carlo method to verify this approach. Taken the density function as the iterative equation, a completely innovative iterative algorithm is presented for acquiring the inverse kinematics analytic solution. Additionally, the solution by the presented algorithm and the pseudo-inverse matrix inverse kinematics solution by the Jacobi iteration algorithm are assessed. Consequently, the improved performance of planar redundant manipulator inverse kinematic analysis and the end executor posture determination by this approach are demonstrated in the Matlab simulations.

Key words: convolution theorem, inverse kinematics, redundant manipulators, workspace