ANALYSIS OF INVERSE KINEMATICS FOR THREE-BRANCH SPACE ROBOT WITH REDUNDANCY

›› 2005, Vol. 41 ›› Issue (11): 58-62.

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ANALYSIS OF INVERSE KINEMATICS FOR THREE-BRANCH SPACE ROBOT WITH REDUNDANCY

Ye Ping;Sun Hanxu

Institute of Robotics Research, Beihang University Automation School, Beijing University of Posts & Telecommunications

Published:2005-11-15

Abstract

Abstract: In order to provide theoretic basis of kinematic optimization, dynamic optimization and fault–tolerant control, the inverse kinematics of three-branch space robot with redundancy is analyzed using screw theory and its unified formulation is established. Based on closed-form resolution of spherical wrist, a simplified inverse kinematics model of three-branch space robot with spherical-wrist in each branch is proposed. The validity of the proposed inverse kinematics model is dem-onstrated by computer simulation results.

Key words: Inverse kinematics, Redundancy, Screw theory, Space robot, Three-branch

CLC Number:

TP24

Ye Ping;Sun Hanxu. ANALYSIS OF INVERSE KINEMATICS FOR THREE-BRANCH SPACE ROBOT WITH REDUNDANCY[J]. , 2005, 41(11): 58-62.

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ANALYSIS OF INVERSE KINEMATICS FOR THREE-BRANCH SPACE ROBOT WITH REDUNDANCY

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