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Abstract: In
order to provide theoretic basis of kinematic optimization, dynamic
optimization and fault–tolerant control, the inverse kinematics of
three-branch space robot with redundancy is analyzed using screw theory
and its unified formulation is established. Based on closed-form
resolution of spherical wrist, a simplified inverse kinematics model of
three-branch space robot with spherical-wrist in each branch is
proposed. The validity of the proposed inverse kinematics model is
demonstrated by computer simulation results.
Key words: Space robot Three-branch Redundancy Screw theory
Inverse kinematics
CLC No: TP24
国家863计划资助项目(2002AA742030).
Received 20040518, received in revised form 20050111
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