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一种仿人机械臂的运动学逆解的几何求解方法
Alternative TitleA Geometrical Method for Inverse Kinematics of a Kind of Humanoid Manipulator
陈鹏; 刘璐; 余飞; 李洪谊; 阳方平; 王雪竹
Department机器人学研究室
Source Publication机器人
ISSN1002-0446
2012
Volume34Issue:2Pages:211-216
Indexed ByEI ; CSCD
EI Accession number20121514940980
CSCD IDCSCD:4506012
Contribution Rank1
Keyword逆运动学 几何法 仿人机械臂 冗余机械臂
Abstract运用几何方法求解一种具有7个旋转自由度的仿人机械臂的运动学逆解,并运用特定的寻优指标,搜索与指定末端位姿对应的关节角空间最优解.这种解法没有理论误差并且解算速度足够快,有利于在线实时控制机械臂的运动.
Other AbstractThe inverse kinematics problem of a kind of humanoid manipulator with 7 rotating DOFs(degrees of freedom) is solved with a geometrical method,and the best solution in the space of the joint angles corresponding to the end-effector’s given position and posture is searched with specific optimizing index.This method has no theoretical error but a sufficiently fast solving speed.It is propitious for the online real-time kinetic control of the manipulator. 更多还原
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/10016
Collection机器人学研究室
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院研究生院
3.沈阳建筑大学成人教育学院
Recommended Citation
GB/T 7714
陈鹏,刘璐,余飞,等. 一种仿人机械臂的运动学逆解的几何求解方法[J]. 机器人,2012,34(2):211-216.
APA 陈鹏,刘璐,余飞,李洪谊,阳方平,&王雪竹.(2012).一种仿人机械臂的运动学逆解的几何求解方法.机器人,34(2),211-216.
MLA 陈鹏,et al."一种仿人机械臂的运动学逆解的几何求解方法".机器人 34.2(2012):211-216.
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