低成本机械臂几何逆运动学设计

2014 Electrical Power, Electronics, Communicatons, Control and Informatics Seminar (EECCIS) Pub Date : 2014-08-01 DOI:10.1109/EECCIS.2014.7003724

M. A. Muslim, Seif Nura Urfin

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引用次数: 2

摘要

为了对机器人末端执行器进行有效控制，需要求解机器人的运动学逆解。研究了一种低成本6自由度机械臂的运动学逆解问题。由于该机器人不提供反馈信号，我们建议使用简单的基于几何的逆运动学。实验结果表明了该方法的有效性，同时精度仍在一定程度上可以接受。

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Design of geometric-based inverse kinematics for a low cost robotic arm

In order to effectively control end effector of a robotic manipulator, one needs to solve inverse kinematics of the robot. This paper reports an investigation to solve inverse kinematics of a low cost 6 degrees of freedom (6 DOF) robotic arm. Since this robot provide no feedback signal, we propose to use a simple geometric-based inverse kinematics. Experimental results show the effectiveness of the proposed method, while the accuracy is still acceptable to some extent.

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来源期刊

2014 Electrical Power, Electronics, Communicatons, Control and Informatics Seminar (EECCIS)

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