Inverse Kinematics Algorithm for 6-DOF Joint Robot with Offset Wrist based on Modified Newton Iteration Method

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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Bibliographic Details
Main Authors: Han Lei, Diao Yan, Zhang Xibin, Luo Hua
Format: Article
Language:zho
Published: Editorial Office of Journal of Mechanical Transmission 2017-01-01
Series:Jixie chuandong
Subjects:
Inverse kinematics
Newton iteration method
Offset wrist
6-DOF robot
Online Access:http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.01.027
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