具有冗余度的机械臂逆运动学的封闭解

IEEE J. Robotics Autom. Pub Date : 1987-10-01 DOI:10.1109/JRA.1987.1087114

P. Chang

{"title":"具有冗余度的机械臂逆运动学的封闭解","authors":"P. Chang","doi":"10.1109/JRA.1987.1087114","DOIUrl":null,"url":null,"abstract":"A closed-form solution formula for inverse kinematics of manipulators with redundancy is derived using the Lagrangian multiplier method. The proposed method is proved to provide the exact equilibrium state for the resolved-motion method. The repeatability problem in the resolved-motion method does not exist in the proposed method. The method is demonstrated to give more accurate trajectories than the resolved-motion method.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"104 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1987-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"111","resultStr":"{\"title\":\"A closed-form solution for inverse kinematics of robot manipulators with redundancy\",\"authors\":\"P. Chang\",\"doi\":\"10.1109/JRA.1987.1087114\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A closed-form solution formula for inverse kinematics of manipulators with redundancy is derived using the Lagrangian multiplier method. The proposed method is proved to provide the exact equilibrium state for the resolved-motion method. The repeatability problem in the resolved-motion method does not exist in the proposed method. The method is demonstrated to give more accurate trajectories than the resolved-motion method.\",\"PeriodicalId\":370047,\"journal\":{\"name\":\"IEEE J. Robotics Autom.\",\"volume\":\"104 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1987-10-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"111\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE J. Robotics Autom.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/JRA.1987.1087114\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE J. Robotics Autom.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/JRA.1987.1087114","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 111

摘要

利用拉格朗日乘子法导出了具有冗余度的机械臂逆运动学的封闭解公式。结果表明，该方法可为解析运动方法提供精确的平衡状态。该方法不存在运动解算法中的重复性问题。结果表明，该方法比解析运动方法能给出更精确的运动轨迹。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

A closed-form solution for inverse kinematics of robot manipulators with redundancy

A closed-form solution formula for inverse kinematics of manipulators with redundancy is derived using the Lagrangian multiplier method. The proposed method is proved to provide the exact equilibrium state for the resolved-motion method. The repeatability problem in the resolved-motion method does not exist in the proposed method. The method is demonstrated to give more accurate trajectories than the resolved-motion method.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

IEEE J. Robotics Autom.

自引率

0.00%

发文量