A geometric approach for deriving a consistent joint solution of a six-point PUMA1 robot is presented. The approach calls for the definition of various possible arm configurations based on the link coordinate systems and human arm geometry. These arm configurations are then expressed in an exact mathematical way to allow the construction of arm configuration indicators and their corresponding decision equations. The arm configuration indicators are prespecified by a user for finding the joint solution. These indicators enable one to find a solution from the possible four solutions for the first three joints, a solution from the possible two solutions for the last three joints. The solution is calculated in two stages. First a position vector pointing from the shoulder to the wrist is derived. This is used to derive the solution of the first three joints by looking at the projection of the position vector onto the xi-1-yi-1(i = 1,2,3) plane. The last three joints are solved using the calculated joint solution from the first three joints, the orientation matrices, and the projection of the link coordinate frames onto the xi-1-yi-1 (i = 4,5,6) plane. From the geometry, one can easily find the arm solution consistently. A computer simulation study conducted on a VAX-11/780 computer demonstrated the validity of the arm solution.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Geometric Approach in Solving Inverse Kinematics of PUMA Robots


    Beteiligte:
    Lee, C.s.g. (Autor:in) / Ziegler, M. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    1984-11-01


    Format / Umfang :

    1830332 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Inverse kinematics for industrial robots using conformal geometric algebra

    Kleppe, Adam Leon / Egeland, Olav | BASE | 2016

    Freier Zugriff


    Geometric approach to solving inverse kinematics of six DOF robot with spherical joints

    Hadidi, Nacer / Bouaziz, Mohamed / Mahfoudi, Chawki et al. | BASE | 2023

    Freier Zugriff

    General approach for inverse kinematics of nR robots

    Wei, Yanhui | Online Contents | 2014