New method of inverse kinematic analysis of special-dimension serial robot<br />
Journal Title: Science Paper Online - Year 2008, Vol 3, Issue 8
Abstract
Aiming at the many kinds for special-dimension serial chain robots and the complexity in analyzing each of them independently, this paper tries to solve these problems by using the method of the general 6R serial robot to analyze the inverse kinematics of the special-dimension robots. By adjusting some dimensions of the robot under the precision allowed, singularities can be avoided during the solving process. PUMA robot is taken as an example to confirm this theoretical analysis. Results show that the request of precision for the calculating numbers depends on the adjustment of different parameter groups, and it can be 31-digit numbers for the real application of the PUMA robot.
Authors and Affiliations
Xunlin CUI, Qizheng LIAO, Dongming GAN, Pin WANG
Keywords
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