Generation of closed-form inverse kinematics for reconfigurable robots

2008年第3卷第1期

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《机械工程前沿（英文）》 >> 2008年第3卷第1期 doi: 10.1007/s11465-008-0013-6

Generation of closed-form inverse kinematics for reconfigurable robots

Robotics Institute, Harbin Institute of Technology;

发布日期： 2008-03-05

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摘要

For reconfigurable robots, the automatic generation of inverse kinematics is a key problem, because such robots may assume various configurations. In this paper, the screw and product-of-exponentials (POE) formula are used to model the kinematics of reconfigurable robots. The POE formula can be converted to canonical subproblems through decomposition and adjoint transformation. Three classes and 28 types of 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. The effectiveness of this method is shown in an example.

关键词

different ; effectiveness ; generation ; reconfigurable ; algebraic