• CN:11-2187/TH
  • ISSN:0577-6686

›› 2005, Vol. 41 ›› Issue (3): 229-233.

• 论文 • 上一篇    下一篇

基于有理数运算的一般6R机器人位置逆解算法

于艳秋;廖启征   

  1. 北京邮电大学自动化学院
  • 发布日期:2005-03-15

INVERSE KINEMATICS ANALYSIS OF GENERAL 6R SERIAL ROBOT BASED ON RATIONAL

Yu Yanqiu;Liao Qizheng   

  1. Automation School, Beijing University of Posts and Telecommunications
  • Published:2005-03-15

摘要: 将有理数最佳逼近实数和三角函数的方法引入到6R机器人的位置逆解计算中,提出了一种基于有理数运算的一般6R机器人位置逆解算法。采用有理数运算不存在浮点数运算中的截尾问题,因此不会损失精度,属于准确计算。该算法在整个计算过程中,仅仅在数字类型转换和简化时才会引入误差,而这个误差可以人为地加以控制,因此实现了整个运算过程中的精度控制。

关键词: 机器人, 位置逆解, 有理数运算

Abstract: An inverse kinematics algorithm of general 6R serial robot based on rational is studied. The method that rational optimally approximates real number and trigonometric function is adopted. Compared with floating point operation, the rational algorithm cannot lose precision and is an exact computation. The errors can be controlled easily, which arise only when simplification and converting number types. So precision control is achieved during the whole computation process.

Key words: Inverse kinematics analysis, Rational operation, Robot

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