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A robot manipulator consists of a number of links connected together by joints. In order to position and orient the end effector of the robot manipulator arbitrary in space, six degree of freedoms are necessary: three degrees of freedom for position and three degrees of freedom for orientation. Each robot manipulator joint can provide one degree of freedom, and thus a robot manipulator must have a minimum of six joints if it is to provide six orthogonal degrees of freedom in position and orientation. In this paper, the efficient approach which was developed for computing an inverse kinematic solution with a closed form has been extended from a six-degree-of-freedom to a five-degree-of-freedom robot manipulator with a none spherical wrist. The TR 4000S spray painting robot manipulator has been used as an example to describe the principles. The invers kinematic computation with a closed form solution shows that is is very systematic and efficient and easily carried out.
An efficient inverse kinematic solution with a closed form for five-degree-of-freedom robot manipulators with a non-spherical wrist
Weitere Titelangaben:
Eine wirksame inverse kinematische Loesung in geschlossener Form fuer einen Robotergreifarm mit fuenf Freiheitsgraden und mit einem nichtkugelfoermigen Handgelenk