TY - GEN
T1 - Analytical inverse kinematics and trajectory planning for a 6DOF grinding robot
AU - Peng, Jianqing
AU - Xu, Wenfu
AU - Wang, Zhiying
AU - Meng, Deshan
PY - 2013
Y1 - 2013
N2 - A grinding robot is composed of six joints, within which the second joint is a prismatic joint and the others are rotational joints. According to its configuration characteristic, the 6DOF of the inverse kinematics problem was decomposed into two 3DOF sub-problems: the position inverse kinematics and the attitude inverse kinematics. Then the two sub-problems were respectively solved analytically, and four sets of solutions of the joint variables were obtained. By adopting the configuration flag, the appropriate solution corresponding to the flag can be determined. Furthermore, the circular trajectory in Cartesian space of the grinding robot was planned to perform the grinding tasks. By taking advantage of the analytical inverse kinematics, the planned Cartesian trajectory is transformed into joint-space. Finally, a simulation system was developed by using Matlab/Simulink software. Based on the system, the analytical inverse kinematics solution and trajectory planning method was studied by numerical simulation. The simulation results showed the effectiveness of the proposed method.
AB - A grinding robot is composed of six joints, within which the second joint is a prismatic joint and the others are rotational joints. According to its configuration characteristic, the 6DOF of the inverse kinematics problem was decomposed into two 3DOF sub-problems: the position inverse kinematics and the attitude inverse kinematics. Then the two sub-problems were respectively solved analytically, and four sets of solutions of the joint variables were obtained. By adopting the configuration flag, the appropriate solution corresponding to the flag can be determined. Furthermore, the circular trajectory in Cartesian space of the grinding robot was planned to perform the grinding tasks. By taking advantage of the analytical inverse kinematics, the planned Cartesian trajectory is transformed into joint-space. Finally, a simulation system was developed by using Matlab/Simulink software. Based on the system, the analytical inverse kinematics solution and trajectory planning method was studied by numerical simulation. The simulation results showed the effectiveness of the proposed method.
KW - Analytical inverse kinematics
KW - Grinding robot
KW - Simulation system
KW - Trajectory planning
UR - https://www.scopus.com/pages/publications/84894124220
U2 - 10.1109/ICInfA.2013.6720409
DO - 10.1109/ICInfA.2013.6720409
M3 - 会议稿件
AN - SCOPUS:84894124220
SN - 9781479913343
T3 - 2013 IEEE International Conference on Information and Automation, ICIA 2013
SP - 834
EP - 839
BT - 2013 IEEE International Conference on Information and Automation, ICIA 2013
T2 - 2013 IEEE International Conference on Information and Automation, ICIA 2013
Y2 - 26 August 2013 through 28 August 2013
ER -