DocumentCode
2344987
Title
Inverse kinematic analysis of general 5R serial robot based on Sylvester linear transformation
Author
Lubin, Hang ; Jun, Wu ; Tingli, Yang
Author_Institution
Dept. of Mech. Eng., Southeast Univ., Nanjing, China
Volume
2
fYear
2000
fDate
2000
Firstpage
1280
Abstract
Based on the Sylvester linear transformation theory, a general method for inverse kinematic analysis of 5R serial robot is proposed in this paper. Using this method, a polynomial equation which contains only one variable and no extraneous roots can be derived from 3 original kinematic equations, whereas the traditional method needs 4 equations. The assembly condition of 5R manipulator (5R loop) and its application in kinematic analysis are discussed. This assembly condition is very useful for finding 6R manipulator´s real configuration
Keywords
manipulator kinematics; polynomials; 5R loop; 5R manipulator; 6R manipulator configuration; Sylvester linear transformation; general 5R serial robot; inverse kinematic analysis; kinematic equations; polynomial equation; Equations; Kinematics; Manipulators; Mechanical engineering; Petrochemicals; Polynomials; Robotic assembly; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation, 2000. Proceedings of the 3rd World Congress on
Conference_Location
Hefei
Print_ISBN
0-7803-5995-X
Type
conf
DOI
10.1109/WCICA.2000.863450
Filename
863450
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