三自由度关节机器人在线坐标变换:增量单元计算方法

Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI:10.1109/ICAR.1991.240519

S. Park, S. Baek, J. Oh

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引用次数: 0

摘要

提出了一种求解三自由度关节机器人运动学逆解的新方法。三自由度机器人可以用两种平面机器人来表示:极坐标机器人和两连杆平面机器人。该方法在关节空间和笛卡尔空间中定义增量单位，表示每个空间中的位置分辨率。基于这些单元，采用增量计算的数字微分分析积分器来求解直线运动学。通过一个简单的查找表可以很容易地实现雅可比矩阵逆的重复计算。在此基础上，提出了一种基于参考脉冲技术的坐标变压器。通过基于传感器的运动控制实验，验证了所提坐标变压器的有效性。

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On-line coordinate transformation for a 3 DOF articulated robot: incremental unit computation method

Presents a new method for solving the inverse kinematics of a 3 DOF articulated robot. The 3 DOF robot can be represented by two kinds of planar robot: a polar robot and a two-link planar robot. The proposed method defines incremental units in joint and Cartesian spaces which represent the position resolution in each space. Based on these units, an incremental computation of the digital differential analyser integrator is used to solve the direct kinematics. The repetitive calculation of the inverse Jacobian matrix is easily realized through a simple lookup table. By using the above new concepts, a coordinate transformer based on the reference-pulse technique is suggested. An experiment for sensor-based motion control is performed to show the effectiveness of the proposed coordinate transformer.<>

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Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments

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