典型文献
Inverse Kinematics Analysis of a 6-DOF Manipulator Using Spherical Geometry Method
文献摘要：
A 6-DOF cooperative manipulator is used for human spinal deformity detection.In order to ensure the scanning quality of spinal deformity and improve the solution rate and speed of inverse motion solution of the manipulator,an inverse kinematics analytical method based on spherical geometry is proposed in this paper.We take the AUBO-i5 collaborative manipulator as the research object,which combines the rapidity of analytical solution with the flexibility of spherical solution.In the Robot Operating System,the simulation experiment solves the inverse kinematics of 10 000 sets of randomly generated postures.The success rate and time-consuming of the solution are calculated.Compared with the two commonly used inverse kinematics solving algorithms,TRAC-IK and KDL,this method has obvious advantages in terms of success rate and average time-consuming.
文献关键词：
中图分类号：
作者姓名：
LIU Qunpo;LIU Guanghui;FEI Shumin;WANG Haixing;ZHANG Jianjun
作者机构：
School of Electrical Engineering and Automation,Henan Polytechnic University,Jiaozuo 454002,Henan,China;Henan International Joint Laboratory of Direct Drive and Control of Intelligent Equipment,Henan Polytechnic University,Jiaozuo 454002,Henan,China;School of Automation,Southeast University,Nanjing 211189,China
文献出处：
引用格式：
[1]LIU Qunpo;LIU Guanghui;FEI Shumin;WANG Haixing;ZHANG Jianjun-.Inverse Kinematics Analysis of a 6-DOF Manipulator Using Spherical Geometry Method)[J].上海交通大学学报（英文版）,2022(05):680-687
A类：
AUBO
B类：
Inverse,Kinematics,Analysis,DOF,Manipulator,Using,Spherical,Geometry,Method,cooperative,manipulator,used,human,spinal,deformity,detection,order,ensure,scanning,quality,improve,solution,speed,inverse,motion,kinematics,analytical,method,spherical,geometry,proposed,this,paper,We,take,i5,collaborative,research,object,which,combines,rapidity,flexibility,Robot,Operating,System,simulation,experiment,solves,sets,randomly,generated,postures,success,consuming,calculated,Compared,two,commonly,solving,algorithms,TRAC,IK,KDL,has,obvious,advantages,terms,average
AB值：
0.606517
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