NDLI: Analytical inverse kinematics and trajectory planning for a 6DOF grinding robot

Content Provider	IEEE Xplore Digital Library
Author	Jianqing Peng Wenfu Xu Zhiying Wang Deshan Meng
Copyright Year	2013
Description	Author affiliation: Shenzhen Grad. Sch., Harbin Inst. of Technol., Shenzhen, China (Jianqing Peng; Wenfu Xu; Zhiying Wang; Deshan Meng)
Abstract	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.
Starting Page	834
Ending Page	839
File Size	671986
Page Count	6
File Format	PDF
ISBN	9781479913343
DOI	10.1109/ICInfA.2013.6720409
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-08-26
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Simulation system Analytical inverse kinematics Trajectory planning Kinematics Manipulators Trajectory Mathematical model Joints Equations Grinding robot
Content Type	Text
Resource Type	Article

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