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Abstract
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Article Information:
An Algorithm of Inverse Kinematics for the Automated Fiber Placement Robotic Manipulator
G.E. Xin-Feng, Z.H.A.O. Dong-Biao, L.U. Yonghua and L.I.U. Kai
Corresponding Author: G.E. Xin-Feng
Submitted: December 12, 2011
Accepted: January 13, 2012
Published: August 15, 2012 |
Abstract:
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To solve inverse kinematics of the automated fiber placement robotic manipulator, an algorithm
based on the position vector and posture transformation matrix is proposed. According to the structural
characteristics of three revolute joint axes of the automated fiber placement robotic manipulator intersect at one
point, three displacement joint variables and three revolute joint variables are calculated, respectively using the
position vector and posture transformation matrix. Compared with the general iterative algorithm, the algorithm
proposed in this paper reduces the number of solving inverse matrices, increases solving speed and is expressed
more simply. The algorithm is verified by simulation and the simulation result shows that the proposed
algorithm in this study is correct.
Key words: Inverse kinematics algorithm, position vector, posture transformation matrix, robotic manipulator, , ,
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Abstract
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Cite this Reference:
G.E. Xin-Feng, Z.H.A.O. Dong-Biao, L.U. Yonghua and L.I.U. Kai, . An Algorithm of Inverse Kinematics for the Automated Fiber Placement Robotic Manipulator. Research Journal of Applied Sciences, Engineering and Technology, (16): 2645-2648.
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ISSN (Online): 2040-7467
ISSN (Print): 2040-7459 |
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