Papers by Author: Xi Guang Huang

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Authors: Xi Guang Huang, Guang Pin He, Duan Ling Li
Abstract: In this paper a new algorithm to compute all the closed-form inverse kinematics solutions of a spatial serial robot. Based on the method, A 16th degree univariate polynomial of the spatial serial robot is obtained without factoring out or deriving the greatest common divisor. We also obtain all the closed-form solutions for the inverse kinematics of the robot. Finally a numerical example is given to demonstrate the algorithm process.
Authors: Xi Guang Huang
Abstract: The internet provides a unique opportunity to remote control robots. Easy to use web interfaces enable people to control robots and to monitor their operation from the distance. This paper describes a remote control technology which combines computer network and an autonomous robot is constructed. The main feature of this technology is that users just need a general purpose computer and a world wide web browser, they can command the mobile robot in a remote location through internet.
Authors: Xi Guang Huang, Guang Pin He, Q.Z. Liao
Abstract: Stewart platform manipulator robot is a six degree of freedom, parallel manipulator, which consists of a base platform, a mobile platform and six limbs connected at six distinct points on the base platform and the mobile platform respectively. The direct position analysis problem of Stewart platform relates to the determination of the mobile platform pose for a given set of the lengths of the limbs. In this paper, we present a concise algebraic method for solving the direct position analysis problem for the fully parallel manipulator with general geometry, often referred to as General Stewart platform manipulator. Based on the presented algebraic method, we derive a 40th degree univariate polynomial from a determinant of 20×20 Sylvester’s matrix, which is relatively small in size. We also obtain a complete set of 40 solutions to the most general Stewart platform. The proposed method is comparatively concise and reduces the computational burden. Finally the method is demonstrated by a numerical example.
Authors: Xi Guang Huang
Abstract: A new algebraic method for the solution of the forward displacement analysis of a parallel manipulator is presented in this paper. Based on the algebraic method, the problem of the forward displacement problem is reduced to a polynomial equation in a single unknown from a constructed matrix which is relative small in the size. From the univariate equation, all closed-form solutions of the different locations of the mechanism can be derived.
Authors: Xi Guang Huang, Guang Pin He, Duan Ling Li
Abstract: The parallel robotic manipulator has attracted many researchers’ attention and it also has growing applications to different areas. In this paper an algebraic method for solving the direct kinematics analysis problem for a parallel robotic manipulator. Based on the presented algebraic method, the problem is derived into a 40th degree univariate polynomial. All complete sets of 40 solutions to the problem are obtained. The proposed method is exemplified by a numerical example.
Authors: Xi Guang Huang, Lei Lei Li, Duan Ling Li
Abstract: A new algorithm for the inverse kinematics of a kind of 6R serial robot was introduced. Firstly, the positions of all the joint points are determined with the help of the basic geometric entities, such as sphere, circle, line, plane and so on. Then, the angles of each joint are computed by the inner product between line and line or plane and plane. The proposed algorithm gives a new geometrically intuitive approach for solving the inverse kinematics of the robot.
Authors: Xi Guang Huang, Duan Ling Li, Guang Pin He
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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