A New Solution to the Inverse Position Analysis of the Redundant Serial Robot

• 作 者: 赵永杰 董兴建
• 机 构: Department of Mechatronics Engineering,Shantou University,Shantou Institute for Light Industrial Equ
• 出 处: Journal of Shanghai Jiaotong University(Science)
• 发表日期: 2010年05期
• 关键词: robot redundant Robot serial effector inverse minimization transformed quickly a

A new solution to the inverse position analysis of the redundant serial robot is presented.The inverse position analysis problem of the redundant serial robot is transformed into a minimization problem and then the optimization method is adopted to solve the nonlinear least square problem with the analytic form of a new Jacobi matrix.In this way,the inverse solution of the redundant serial robot can be searched out quickly under the desired precision when the positions of the three non-collinear end effector points are given.The inverse position analysis of the 7R redundant serial robot is illustrated as an example and the simulation results verify the efficiency of the proposed algorithm.

A new solution to the inverse position analysis of the redundant serial robot is presented. The inverse position analysis problem of the redundant serial robot is transformed into a minimization problem and then the optimization method is solved to the nonlinear least square problem with the analytic form of a new Jacobi matrix. In this way, the inverse solution of the redundant serial robot can be searched out quickly under the desired precision when the positions of the three non-collinear end effector points are given. The inverse position analysis of the 7R redundant serial robot is illustrated as an example and the simulation results verify the efficiency of the proposed algorithm.