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Abstract:
Based on
the linear transformation theory, a general method for inverse kinematic
analysis of 5R serial robot is proposed. Using this method, a polynomial
equation which contains only one variable and no extraneous roots can be
derived from 3 original kinematic equations, whereas the traditional
method needs 4 equations. The assembly condition of 5R robot (5R loop)
and its application in kinematic analysis are discussed. This assembly
condition is very useful for finding 6R robot’s real configuration.
Key words:
Serial
robot Inverse kinematics Linear transformation
Configuration
CLC No: TH113
国家自然科学基金资助项目. Received 20000126,
received in revised form 20001009
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