SIA OpenIR  > 空间自动化技术研究室
Analytical inverse kinematic computation for 7-DOF redundant sliding manipulators
Tong YC(佟玉闯)1,2,3; Liu JG(刘金国)1,2; Liu YW(刘玉旺)1,2; Yuan Y(袁源)4
Department空间自动化技术研究室
Source PublicationMechanism and Machine Theory
ISSN0094-114X
2021
Volume155Pages:1-23
Indexed ByEI
EI Accession number20203509105704
Contribution Rank1
Funding OrganizationNational Key R&D Program of China (Grant No. 2018YFB1304600) ; Natural Science Foundation of China (Grant No. 51775541 ) ; CAS Interdisciplinary Innovation Team (Grant No. JCTD-2018-11)
KeywordRedundant manipulator Sliding manipulator Inverse kinematics Analytical solution Parameterization
Abstract

The shape and movement irregularities of rail-type redundant sliding manipulators lead to structural uncertainty, which results in inverse kinematics computations that are considerably more complicated than those of the traditional redundant manipulator currently studied. In this paper, an analytical inverse kinematic parameterized method is proposed for the redundant sliding manipulators, which solves the inverse kinematics analytically and adopts the Newton–Raphson algorithm for secondary adjustment. This paper is the first time to propose a general analytical inverse kinematics solution for all types of rail-type redundant sliding manipulators. Furthermore, the special structural characteristics of the rail-type redundant sliding manipulator are analyzed in this paper. The proposed method takes the redundant circular-sliding manipulator as the research object, and extends to all types of rail-type redundant sliding manipulators. It has the advantages of simplicity, practicability, obvious geometric meaning and universality, which can solve the real-time motion planning and control issues of all types of redundant sliding manipulators. Simulation illustrations and physical experiments are performed to verify the effectiveness and universality of the method.

Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/27568
Collection空间自动化技术研究室
Corresponding AuthorLiu JG(刘金国)
Affiliation1.Stata Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.2) Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
3.University of the Chinese Academy of Sciences, Beijing 100049, China
4.School of Aerospace, Northwestern Polytechnical University, Xi'an 710072, China
Recommended Citation
GB/T 7714
Tong YC,Liu JG,Liu YW,et al. Analytical inverse kinematic computation for 7-DOF redundant sliding manipulators[J]. Mechanism and Machine Theory,2021,155:1-23.
APA Tong YC,Liu JG,Liu YW,&Yuan Y.(2021).Analytical inverse kinematic computation for 7-DOF redundant sliding manipulators.Mechanism and Machine Theory,155,1-23.
MLA Tong YC,et al."Analytical inverse kinematic computation for 7-DOF redundant sliding manipulators".Mechanism and Machine Theory 155(2021):1-23.
Files in This Item:
File Name/Size DocType Version Access License
Analytical inverse k(4354KB)期刊论文出版稿开放获取CC BY-NC-SAView Application Full Text
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Tong YC(佟玉闯)]'s Articles
[Liu JG(刘金国)]'s Articles
[Liu YW(刘玉旺)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Tong YC(佟玉闯)]'s Articles
[Liu JG(刘金国)]'s Articles
[Liu YW(刘玉旺)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Tong YC(佟玉闯)]'s Articles
[Liu JG(刘金国)]'s Articles
[Liu YW(刘玉旺)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Analytical inverse kinematic computation for 7-DOF redundant sliding manipulators.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.