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Abstract: An inverse kinematics algorithm of general 6R serial robot
based on rational is studied. The method that rational optimally
approximates real number and trigonometric function is adopted. Compared
with floating point operation, the rational algorithm cannot lose
precision and is an exact computation. The errors can be controlled
easily, which arise only when simplification and converting number
types. So precision control is achieved during the whole computation
process.
Key words: Rational operation Robot Inverse kinematics analysis
CLC No: TP242.2
Received 20040407, received in revised form
20040915
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