A new solution to the inverse position analysis of the redundant serial robot |
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| Authors: | Yong-jie Zhao Xing-jian Dong |
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| Institution: | (1) Department of Mechanical Engineering, Tatung University, 40 Chung-Sang North Rd. 3 rd. Sec., Taipei, Taiwan 10451, ROC;(2) Mechanical & Industrial Engineering Department, College of Engineering & Petroleum, Kuweit University, P.O. Box 5969, Safat 13060, Kuweit;(3) Department of Information Management, Tatung University, 40 Chung-Sang North Rd. 3rd. Sec., Taipei, Taiwan 10451, ROC |
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| Abstract: | 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. |
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