RETRACTED ARTICLE: Inverse kinematics and application of a type of motion chain based on screw theory and analytic geometry

doi:10.1109/ICCASM.2010.5622213

CORC > 兰州理工大学 > 兰州理工大学 > 机电工程学院

	RETRACTED ARTICLE: Inverse kinematics and application of a type of motion chain based on screw theory and analytic geometry
	Zhang, Shuzhen 2; Huang, Jianlong 2; Kong, Minxiu 1; Sun, Lining 1
	2010
关键词	Geometry Inverse kinematics Screws Analytic geometries Inverse kinematics solutions Inverse solution Multi-solutions Screw theory Sub-problems
卷号	10
DOI	10.1109/ICCASM.2010.5622213
页码	v10680-v10684
英文摘要	For the RRRR motion chain, a kind of sub-problem which can be described as rotating about four not intersecting axes to a given point and adjacent axes are parallel or vertical intersecting or vertical skew is proposed. By combining analytic geometry and screw theory exponential product method, the inverse kinematics solution of the RRRR motion chain is derived, and joint axes relations of motion chain being fit for the method are presented. The multi-solutions is analyzed and the geometric meanings is explained. The method has obvious geometric meanings and the solution can be verified by with the help of drawing. Using the method 6-R manipulator inverse solution is analyzed, and feasibility of this method is validated through the instance with exact parameters. © 2010 IEEE.
会议录	ICCASM 2010 - 2010 International Conference on Computer Application and System Modeling, Proceedings
会议录出版者	IEEE Computer Society
语种	英语
内容类型	会议论文
源URL	[http://ir.lut.edu.cn/handle/2XXMBERH/116883]
专题	机电工程学院
作者单位	1.Robot Research Institue, Harbin Institute of Technology, Harbin, 150001, China 2.College of Mechano-Electronic Engineering, Lanzhou University of Technology, Lanzhou, 730050, China;
推荐引用方式 GB/T 7714	Zhang, Shuzhen,Huang, Jianlong,Kong, Minxiu,et al. RETRACTED ARTICLE: Inverse kinematics and application of a type of motion chain based on screw theory and analytic geometry[C]. 见:.