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基于向量内积的机器人实时逆解算法(Real-time Inverse Kinematics Algorithm Based on Vector Dot Product)
机器人 逆运动学 向量内积 算法
2009/8/11
为提高6R机器人逆运动学求解算法的实时性,提出了一种基于向量内积变换的实时高效逆运动学求解算法。将复杂的矩阵方程转换为含有6个未知关节变量的10个纯代数逆运动学方程,并在方程的简化过程中引入符号运算预处理,避免了大量浮点运算带来累积误差。通过相关方程的优化线性组合,有效避免了5、6两关节变量求解时产生增根的情况,大幅提高了逆解算法的效率。试验结果表明,同等求解精度要求下该逆解算法相比于其他算法具有...
On inverse kinematics and kinetics of redundant space manipulator simulation
inverse kinematics and kinetics redundant manipulators space robotics optimization with constraints
2010/3/12
Redundant manipulators are nowadays favoured in several future space mission scenarios in order to enhance the skill and flexibility of the entire system. DLR, since many years, has been engaged in th...