Solution for a New Sub-Problem in Screw Theory and its’ Application in the Inverse Kinematics of a Manipulator

Abstract:

Three basic sub-problems of screw theory are acceptable for some particular configuration manipulators’ inverse kinematics, which can not solve the inverse kinematics of all configuration manipulators. A new sub-problem is presented and the inverse kinematics thereof is solved in this paper. Based on the extended sub-problem, a manipulator, the inverse kinematics of which can not be solved by the three sub-problems without the participation of the new sub-problem, is constructed. The inverse kinematics of the manipulator is solved with the help of the extended sub-problem。Therefore a close solution is gained. The sub-problem herein can be applied directly in the inverse kinematics of a manipulator, providing a new approach for the inverse kinematics of a general configuration manipulator.

• Periodical: Applied Mechanics and Materials (Volumes 34-35)
• Pages: 271-275
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.34-35.271
• Online since: October 2010
• Authors: Yue Sheng Tan, Peng Le Cheng, Ai Ping Xiao
• Keywords: Inverse Kinematic, Motion Screw, Paden-Kahan Sub-Problem

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