Inverse Kinematics Algorithm for 6-DOF Joint Robot with Offset Wrist based on Modified Newton Iteration Method
The 6- DOF joint robot with offset wrist can’t satisfy the Pieper rule,thus there are no closed- form inverse kinematics solutions for them. Compared with non- offset robot,a numerical iterative algorithm that integrates the closed- form inverse solutions of non- offset robot with the modified Newto...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2017-01-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.01.027 |
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| author | Han Lei Diao Yan Zhang Xibin Luo Hua |
| author_facet | Han Lei Diao Yan Zhang Xibin Luo Hua |
| author_sort | Han Lei |
| collection | DOAJ |
| description | The 6- DOF joint robot with offset wrist can’t satisfy the Pieper rule,thus there are no closed- form inverse kinematics solutions for them. Compared with non- offset robot,a numerical iterative algorithm that integrates the closed- form inverse solutions of non- offset robot with the modified Newton iteration method is obtained,and the inverse method is utilized to obtain the closed- form inverse solutions of the non- offset robot with the same configurations,and the solutions are considered as the initial values of the subsequent iteration. According to the forward kinematics,by combining the three components of position vector with the three independent elements of attitude matrix,a non- liner equation set which contains all joint variables can be obtained,and then the numerical inverse kinematics solutions for the robot with offset wrist can be searched with the modified Newton iteration method. A large number of tests indicate that the algorithm can meet the requirements of real- time control. |
| format | Article |
| id | doaj-art-7c0b6ee479cf47bc9f14666d52802231 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2017-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-7c0b6ee479cf47bc9f14666d528022312025-01-10T14:38:59ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392017-01-014112713029928140Inverse Kinematics Algorithm for 6-DOF Joint Robot with Offset Wrist based on Modified Newton Iteration MethodHan LeiDiao YanZhang XibinLuo HuaThe 6- DOF joint robot with offset wrist can’t satisfy the Pieper rule,thus there are no closed- form inverse kinematics solutions for them. Compared with non- offset robot,a numerical iterative algorithm that integrates the closed- form inverse solutions of non- offset robot with the modified Newton iteration method is obtained,and the inverse method is utilized to obtain the closed- form inverse solutions of the non- offset robot with the same configurations,and the solutions are considered as the initial values of the subsequent iteration. According to the forward kinematics,by combining the three components of position vector with the three independent elements of attitude matrix,a non- liner equation set which contains all joint variables can be obtained,and then the numerical inverse kinematics solutions for the robot with offset wrist can be searched with the modified Newton iteration method. A large number of tests indicate that the algorithm can meet the requirements of real- time control.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.01.027Inverse kinematicsNewton iteration methodOffset wrist6-DOF robot |
| spellingShingle | Han Lei Diao Yan Zhang Xibin Luo Hua Inverse Kinematics Algorithm for 6-DOF Joint Robot with Offset Wrist based on Modified Newton Iteration Method Jixie chuandong Inverse kinematics Newton iteration method Offset wrist 6-DOF robot |
| title | Inverse Kinematics Algorithm for 6-DOF Joint Robot with Offset Wrist based on Modified Newton Iteration Method |
| title_full | Inverse Kinematics Algorithm for 6-DOF Joint Robot with Offset Wrist based on Modified Newton Iteration Method |
| title_fullStr | Inverse Kinematics Algorithm for 6-DOF Joint Robot with Offset Wrist based on Modified Newton Iteration Method |
| title_full_unstemmed | Inverse Kinematics Algorithm for 6-DOF Joint Robot with Offset Wrist based on Modified Newton Iteration Method |
| title_short | Inverse Kinematics Algorithm for 6-DOF Joint Robot with Offset Wrist based on Modified Newton Iteration Method |
| title_sort | inverse kinematics algorithm for 6 dof joint robot with offset wrist based on modified newton iteration method |
| topic | Inverse kinematics Newton iteration method Offset wrist 6-DOF robot |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.01.027 |
| work_keys_str_mv | AT hanlei inversekinematicsalgorithmfor6dofjointrobotwithoffsetwristbasedonmodifiednewtoniterationmethod AT diaoyan inversekinematicsalgorithmfor6dofjointrobotwithoffsetwristbasedonmodifiednewtoniterationmethod AT zhangxibin inversekinematicsalgorithmfor6dofjointrobotwithoffsetwristbasedonmodifiednewtoniterationmethod AT luohua inversekinematicsalgorithmfor6dofjointrobotwithoffsetwristbasedonmodifiednewtoniterationmethod |