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

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

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

Yu Yanqiu;Liao Qizheng

Automation School, Beijing University of Posts and Telecommunications

Published:2005-03-15

Abstract

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

CLC Number:

TP242.2

Yu Yanqiu;Liao Qizheng. INVERSE KINEMATICS ANALYSIS OF GENERAL 6R SERIAL ROBOT BASED ON RATIONAL[J]. , 2005, 41(3): 229-233.

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

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