- 期刊
- OpenAccess
An Algorithm of Inverse Kinematics for the Automated Fiber Placement Robotic Manipulator
並列摘要
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.
延伸閱讀
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