关键词: 三分支, 旋量理论, 逆运动学, 迭代算法, 模块化

Abstract:

The inverse kinematics for trinal-branch space robotic manipulator is researched based on the screw theory POE equation and space Jacobian matrix, a general iterative algorithm on inverse kinematics is proposed and its unified formulation is established. If each handling branch features a spherical group of joints at the wrist, a simplified inverse kinematics of the manipulator can be obtained with the position and orientation decomposition. The proposed algorithm is of the higher computation accuracy than the velocity control method, and it is not relied on the configuation of manipulator which is applicable to modular robot. Simulation of carrying a single object is analyzed, therefore, the validity of the proposed algorithm is certificated.

Key words: trinal-branch, screw theory, inverse kinematics, iterative algorithm, modular