Inverse Kinematics of 6-DOF Robot Manipulator via Analytic Solution with Conformal Geometric Algebra

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	Inverse Kinematics of 6-DOF Robot Manipulator via Analytic Solution with Conformal Geometric Algebra
	Zhao, Hongfa 3; Wang, Jianyu 3; Shao, Zhenzhou 3; Kang, He 2; Song GL(宋国立)1 ; Guan, Yong 3
	2018
会议日期	December 12-15, 2018
会议地点	Kuala Lumpur, Malaysia
页码	2508-2513
英文摘要	This paper presents a new inverse kinematics algorithm of 6-DOF robot manipulator via the analytic solution with Conformal Geometric Algebra (CGA). To simplify the calculation, angles of joints 1, 5 and 6 are obtained using the analytic method. On the other hand, the remaining joint angles θ2, θ3 and θ4 are figured out by CGA which describes the geometric relationship intuitively. The proposed method is verified and simulated in Matlab and Rviz, respectively. Experimental results show the high accuracy of proposed approach. Moreover, it can be easily integrated in the motion planning of robot manipulator.
产权排序	3
会议录	Proceedings of the 2018 IEEE International Conference on Robotics and Biomimetics
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-7281-0376-1
WOS记录号	WOS:000468772200396
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/24660]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Shao, Zhenzhou
作者单位	1.Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang 110015, China 2.Shijiazhaung Branch, China Tower Limited by Share Ltd, Shijiazhuang 050000, China 3.College of Information Engineering, Beijing Advanced Innovation Center for Imaging Technology and Beijing, Key Laboratory of Light Industrial Robot and Safety Verification, Capital Normal University, Beijing 100048, China
推荐引用方式 GB/T 7714	Zhao, Hongfa,Wang, Jianyu,Shao, Zhenzhou,et al. Inverse Kinematics of 6-DOF Robot Manipulator via Analytic Solution with Conformal Geometric Algebra[C]. 见:. Kuala Lumpur, Malaysia. December 12-15, 2018.