典型文献
General closed-form inverse kinematics for arbitrary three-joint subproblems based on the product of exponential model
文献摘要：
The inverse kinematics problems of robots are usually decomposed into several Paden-Kahan subproblems based on the product of exponential model.However,the simple combination of subproblems cannot solve all the inverse kinematics problems,and there is no common approach to solve arbitrary three-joint subproblems in an arbitrary postural relationship.The novel algebraic geometric(NAG)methods that obtain the general closed-form inverse kinematics for all types of three-joint subproblems are presented in this paper.The geometric and algebraic constraints are used as the conditions precedent to solve the inverse kinematics of three-joint subproblems.The NAG methods can be applied in the inverse kinematics of three-joint subproblems in an arbitrary postural relationship.The inverse kinematics simulations of all three-joint subproblems are implemented,and simulation results indicating that the inverse solutions are consistent with the given joint angles validate the general closed-form inverse kinematics.Huaque Ⅲminimally invasive surgical robot is used as the experimental platform for the simulation,and a master-slave tracking experiment is conducted to verify the NAG methods.The simulation result shows the inverse solutions and six sets given joint angles are consistent.Additionally,the mean and maximum of the master-slave tracking experiment for the closed-form solution are 0.1486 and 0.4777 mm,respectively,while the mean and maximum of the master-slave tracking experiment for the compensation method are 0.3188 and 0.6394 mm,respectively.The experiments results demonstrate that the closed-form solution is superior to the compensation method.The results verify the proposed general closed-form inverse kinematics based on the NAG methods.
文献关键词：
中图分类号：
作者姓名：
Tao SONG;Bo PAN;Guojun NIU;Jiawen YAN;Yili FU
作者机构：
State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China;School of Mechanical Engineering and Automation,Zhejiang Sci-Tech University,Hangzhou 310018,China
文献出处：
引用格式：
[1]Tao SONG;Bo PAN;Guojun NIU;Jiawen YAN;Yili FU-.General closed-form inverse kinematics for arbitrary three-joint subproblems based on the product of exponential model)[J].机械工程前沿,2022(02):83-99
A类：
Huaque
B类：
General,closed,inverse,kinematics,arbitrary,three,joint,subproblems,product,exponential,model,robots,are,usually,decomposed,into,several,Paden,Kahan,However,simple,combination,cannot,solve,there,common,approach,postural,relationship,novel,algebraic,geometric,NAG,methods,that,obtain,general,types,presented,this,paper,constraints,used,conditions,precedent,be,applied,simulations,implemented,results,indicating,solutions,consistent,given,angles,validate,minimally,invasive,surgical,experimental,platform,master,slave,tracking,conducted,verify,shows,six,sets,Additionally,mean,maximum,respectively,while,compensation,experiments,demonstrate,superior,proposed
AB值：
0.333708
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