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
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;
Conference_Titel :
Intelligent Control and Automation, 2000. Proceedings of the 3rd World Congress on
Conference_Location :
Hefei
Print_ISBN :
0-7803-5995-X
DOI :
10.1109/WCICA.2000.863450
