Inverse Kinematic of Six-Axis Robots Based on R*(3, 0, 1) Geometric Algebra

被引：0
|
作者：
Du J. [1 ]
Wu H. [1 ]
Yang X. [1 ]
Chen B. [1 ]
Cheng S. [2 ]
机构：
[1] College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, Jiangsu
[2] School of Automotive Engineering, Yancheng Institute of Technology, Yancheng, 224051, Jiangsu
来源：
Huanan Ligong Daxue Xuebao/Journal of South China University of Technology (Natural Science) | 2018年 / 46卷 / 09期
基金：
中国国家自然科学基金;
关键词：
Geometric algebra; Industrial robots; Inverse kinematics; Signed distance;
D O I：
10.3969/j.issn.1000-565X.2018.09.005
中图分类号：
学科分类号：
摘要：
The geometric algebra model R*(3, 0, 1) combines the benefits of dual quaternions and conformal geometric algebra, i.e., dual quaternions can compute faster while comformal geometric algebra have the same translation algorithm for points and planes as well as have algorithm to compute sign distance between points and planes. A new inverse kinematic of industrial robots algorithm is proposed on the basis of R* (3, 0, 1) model, i.e., the unique solution of inverse kinematic of industrial robots is determined by the sign distances between joints and three singular planes, and the sign distances can be computed by R* (3, 0, 1) model. This new algorithm can find unique solution without comparing a preferred one which is widely applied in general inverse kinematic solution. This new algorithm has advantages, such as being able to compute the sign distance to the singular planes, being simple, highly speedy to compute unique inverse kinematic solution effectively when applied to practical robot motion control. This algorithm is numerically verified on PUMA 560. © 2018, Editorial Department, Journal of South China University of Technology. All right reserved.
引用
收藏
页码：30 / 35
页数：5
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