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Inverse Transformation of Robot and Its Degeneration(PDF)

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
1997年06期
Page:
54-57
Research Field:
Publishing date:

Info

Title:
Inverse Transformation of Robot and Its Degeneration
Author(s):
Zhang Enzhou Zhu Yan Han Jun
School of Manufacturing Engineering ,NUST ,Nanjing 210094
Keywords:
robot t rans format ion degeneration
PACS:
TP242
DOI:
-
Abstract:
In the paper, An indust rial robot w ith closed chain st ructure in real use is introduced and its kinemat ic equation and invers esolut ion are presented. T he global and local degenerat ion of the robot is mainly discus sed. T he global degenerat ion point s are found by analyzing the Jacobi-M at rix′s rank of the kinematic equation. T hrough solving the equat ion, the robot coordination can be got ten and local degenerat ion points can be det ermined. T he inf ormation on the degenerat ion point s is useful when des igning a robot and planning it s traject ory.

References:

1  Hiller M , Wanner M C, Sallam E M . Pro gr ammsystem zur behandlung der rueckw aertstransfo rmatio n bei sechsachsigen industr ier obot ern. Robot ersysteme , 1986, 4: 211~216
2 Richard P Paul. Robo t mamipula tor s: mathemat ics, pro gr amming and co nt ro l. U. S . A: M IT,1982. 53~59, 85~95
3 马香峰. 机器人机构学. 北京: 机械工业出版社, 1991, 9: 76~87

Memo

Memo:
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Last Update: 2013-03-29