راه حل حرکت شناسی معکوس برای ربات های صنعتی با مچ دست افست
|کد مقاله||سال انتشار||مقاله انگلیسی||ترجمه فارسی||تعداد کلمات|
|43139||1999||17 صفحه PDF||سفارش دهید||8805 کلمه|
Publisher : Elsevier - Science Direct (الزویر - ساینس دایرکت)
Journal : Applied Mathematical Modelling, Volume 38, Issues 7–8, 1 April 2014, Pages 1983–1999
In this paper, the inverse kinematics solutions for 16 industrial 6-Degrees-of-Freedom (DOF) robot manipulators with offset wrists are solved analytically and numerically based on the existence of the closed form equations. A new numerical algorithm is proposed for the inverse kinematics of the robot manipulators that cannot be solved in closed form. In order to illustrate the performance of the New Inverse Kinematics Algorithm (NIKA), the simulation results attained from NIKA are compared with those obtained from well-known Newton–Raphson Algorithm (NRA). The inverse kinematics solutions of two robot manipulators with offset wrists are given as examples. In order to have a complete idea, the inverse kinematics solution techniques for 16 industrial robot manipulators are also summarized in a table.