Solving the Inverse Position Problem of a 7R Robot

Xi Guang Huang; Duan Ling Li; Guang Pin He

doi:10.4028/www.scientific.net/AMM.29-32.961

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 29-32Solving the Inverse Position Problem of a 7R Robot

Solving the Inverse Position Problem of a 7R Robot

Abstract:

In this paper a new computational technique for the inverse position problem of a 7R robot is presented. Instead of reducing the problem to one highly complicated input-output equation, we work with a system of 10 very simple polynomial equations. We show the total degree of the system is 16, in agreement with previous works. Moreover we present a numerical example confirms the technique. The whole process is simple and easy to program.

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Periodical:

Applied Mechanics and Materials (Volumes 29-32)

Pages:

961-965

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.29-32.961

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Online since:

August 2010

Authors:

Xi Guang Huang, Duan Ling Li, Guang Pin He

Keywords:

Closed Form Solution, Inverse Position Problem, Spatial Robot

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