标题：
Inverse kinematic formula for a new class of 6R robotic arms with simple constraints
点击次数：
发表刊物：
Mechanism and Machine Theory
关键字：
Inverse kinematics ; 6R robotic arm ; Degree-reduced condition ; Kinematic constraint ; Adjacent parallel axes
摘要：
A systematic and unified kinematic modelling method for a new class of 6R robotic arms is investigated, which separates the coupled joint variables without raising degrees. To begin, successive products of the tangent-form DCMs and quaternions yield the non-redundant kinematic equations. By providing the derived position vectors, new inverse kinematic formulas are then invented for general 6R robotic arms. Based on this, a degree-reduced condition is found out to ideally reduce the kinematic formulas of five coupling variables to three while the degrees remain constant, which benefits for a light computational resource. A new class of robotic arms satisfying the degree-reduced condition is proposed, including simple kinematic constraints of two adjacent parallel or orthogonal. The inverse kinematic software testing proves the efficiency of the method: the running time is less than 2 milliseconds; the relative position and orientation variations are less than 10− 11. This study can be taken as a theoretical basis for the inverse kinematic research of 6R robotic arms, which provides a brand-new way to establish the kinematic formulas and exhibits a relatively simple kinematic structure for precise industrial use. Moreover, the proposed method is expected to be used to reduce the degrees of kinematic modelling polynomials of higher-DOF robotic arms.
论文类型：
期刊论文
ISSN号：
0094-114X
是否译文：
否
发表时间：
2023-01-10
发表时间：
2023-01-10
学位：工学博士学位
职称：教授
所在单位：航天学院