Abstract: It
is a key problem to generate the inverse kinematics automatically for
reconfigurable robots, because such robots may assume various
configurations. Screw and the Product-of-exponential(POE) formulas are
employed herein to model the kinematics of reconfigurable robots. The
POE formula can be converted to canonical subproblems through
decomposition and adjoint transformation. Three classes, twenty-eight
types subproblems containing geometric or algebraic solutions are
identified and solved, which can be reused in different configurations.
A generalized, decomposable and reusable approach for close-form inverse
kinematics of reconfigurable robots is developed based on POE and
subproblems. An example is given to demonstrate the effectiveness of
this method.
Key words: Reconfigurable
robot Inverse kinematics Product of exponential formula
Subproblems
CLC No: TP242.6
Received
20050610,received
in revised form 20060308
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