2006•Machinery & ElectronicsRequires access

Manipulator Inverse Kinematics Based on Screw and Arm Configuration

Cai He-gao

Abstract

Discussed the screw theory and the product of exponentials (POE) formula used to solve the manipulator inverse kinematics problems.Using arm configuration indicators to obtain the unique appropriate solution from multiple solutions,as compared to working out all the possible solutions and then judging reasonable solution,was proved to reduce computation workload and operation time.Examples verified the validity of the algorithms.

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Available abstract

Key concepts: Screw theory, Inverse kinematics, Kinematics, Computation, Forward kinematics, Inverse, Workload, Manipulator (device)