Journal of Beijing University of Posts and Telecommunications

  • EI核心期刊

JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM ›› 2019, Vol. 42 ›› Issue (1): 102-108.doi: 10.13190/j.jbupt.2018-142

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Algorithm for Least-Norm Inverse Kinematic Solution of Trinal-Branch Robotic Manipulator

HONG Lei1, WANG Bao-sheng2, CHEN Gang3   

  1. 1. School of Automotive and Rail Transit, Nanjing Institute of Technology, Nanjing 211167, China;
    2. Industrial Technology Research Institute of Intelligent Equipment, Nanjing Institute of Technology, Nanjing 211167, China;
    3. School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China
  • Received:2018-07-01 Online:2019-02-28 Published:2019-03-08
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Abstract: The inverse kinematics for trinal-branch robotic manipulator is researched based on the theory of linear equations set and conditional extremum, and an improved algorithm for least-norm inverse kinematics solution is proposed. The complicated calculation in conventional algorithm for the generalized inverse of Jacobian is avoided in this algorithm, especially, if the joint degree of each handling branch is equal to or more than the dimension of task space, a further simplified calculation can be obtained with the introduction of the Schimidt orthogonalization procedure. The proposed algorithm is of the higher real-time computation capacity than the common method, through the simulation of carrying a single object, the validity of the proposed algorithm is certificated.

Key words: trinal-branch, least-norm, inverse kinematics, Schimidt orthogonalization procedure

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