A Computational Algorithm for a Spatial Serial Robot

Abstract:

Article Preview

The inverse kinematics of serial robots is a central problem in the automatic control of robot manipulators. The aim of this paper is to obtain a computational algorithm to compute the inverse kinematics problem of a spatial serial robot. We use a series of algebraic and numeric transformations to reduce the problem to a univariate polynomial equation. The results can be directly applied to symbolic calculations and decreased considerably the calculation time.

Info:

Periodical:

Advanced Materials Research (Volumes 217-218)

Edited by:

Zhou Mark

Pages:

233-237

DOI:

10.4028/www.scientific.net/AMR.217-218.233

Citation:

X. G. Huang "A Computational Algorithm for a Spatial Serial Robot", Advanced Materials Research, Vols. 217-218, pp. 233-237, 2011

Online since:

March 2011

Authors:

Export:

Price:

$35.00

[1] D. Pieper, Ph.D. Thesis, Stanford University (1968).

[2] B. Roth, J. Rastegar and V. Schcinman, 1st CISM-IFTOMM Syrup. Vol 1, pp.93-113 (1973).

[3] H. Albala and J. Angeles, Proc. 5th World Congress. Theory Mach. Mech., pp.1008-1011 (1979).

[4] H. Y. Lee, C. G. Liang: Mechanism and Machine Theory Vol. 23(3) (1988), pp.219-226.

[5] M. Raghavan, B. Roth: ASME Journal of Mechanical Design Vol. 115(3) (1993), pp.502-508.

[6] D. Kohli, M. Osvatic: ASME Journal of Mechanical Design Vol. 115(4) (1993), pp.922-931.

[7] L. B. Hang, Y. Wang, T. L. Yang: Journal of Shanghai Jiaotong University Vol. 38(6) (2004), pp.853-856.

[8] L. M. Husty, P. Martin, P. S. Hans: Mechanism and Machine Theory Vol. 42 (2007), pp.66-81.

[9] Q. Z. Liao, C. G. Liang, Q. X. Zhang: Chinese Journal of Mechanical Engneering Vol. 22(3) (1986), pp.1-9.

In order to see related information, you need to Login.