THIS PAPER PRESENTS A NEW METHOD FOR SOLVING THE INVERSE KINEMATICS OF THE ANTHROPOID MANIPULATOR. THE TARGET MANIPULATOR CAN BE REPRESENTED BY TWO KINDS OF PLANAR ROBOT. FOR EACH PLANAR ROBOT, THE PROPOSED METHOD DEFINES INCREMENTAL UNITS IN JOINT AND CARTESIAN SPACES, WHICH REPRESENT THE POSITION RESOLUTION IN EACH SPACE. BASED ON THESE UNITS, AN INCREMENTAL COMPUTATION OF THE DDA INTEGRATOR CAN BE USED TO SOLVE THE DIRECT KINEMATICS. THE REPETITIVE CALCULATION OF THE INVERSE JACOBIAN MATRIX IS EASILY REALIZED THROUGH A SIMPLE LOOK-UP TABLE. FURTHERMORE, A COORDINATE TRANSFORMER WHICH ADOPTS THE CONCEPT FOR THE SEPARATION OF POSITION/ORIENTATION IS SUGGESTED. A SIMULATION IS CARRIED OUT TO SHOW THE EFFECTIVENESS OF THE PROPOSED METHOD.
| Number of Pages : | 15 |
| Published : | 06/01/1991 |
