Inverse kinematics calculation in IEC 61131-3 Structured Text: KinIn

IF 2.4 4区计算机科学 Q2 COMPUTER SCIENCE, SOFTWARE ENGINEERING

SoftwareX Pub Date : 2025-07-15 DOI:10.1016/j.softx.2025.102252

Joseph Ramses Méndez Cam, Félix Melchor Santos López

引用次数: 0

Abstract

IEC 61131-3 is a widely recognized standard in industrial programming, with its Structured Text programming language frequently employed for developing complex applications. However, there is a notable lack of comprehensive libraries for the analysis of custom mechanisms in Structured Text. To address the limitations associated with programming in IEC 61131-3, KinIn was developed as a framework implementing essential linear algebra operations and functions for inverse kinematics computation. This paper details the core components of the framework, the implemented functions, and their interconnections. The mathematical foundations of exponential coordinates used in the calculations are briefly introduced, and the framework’s utility is demonstrated through an illustrative example in the domain of heavy machinery.

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IEC 61131-3中的逆运动学计算：结构化文本：KinIn

IEC 61131-3是工业编程中广泛认可的标准，其结构化文本编程语言经常用于开发复杂的应用程序。然而，对于结构化文本中自定义机制的分析，目前明显缺乏全面的库。为了解决IEC 61131-3中与编程相关的限制，KinIn被开发为实现基本线性代数运算和逆运动学计算函数的框架。本文详细介绍了该框架的核心组件、实现的功能及其相互关系。简要介绍了指数坐标计算的数学基础，并通过一个实例说明了该框架在重型机械领域的应用。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

SoftwareX COMPUTER SCIENCE, SOFTWARE ENGINEERING-

CiteScore

5.50

自引率

2.90%

发文量

184

审稿时长

9 weeks

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