| 1P5R医用机器人的反解算法研究 |
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| 引用本文： | 于艳秋,廖启征. 1P5R医用机器人的反解算法研究[J]. 北京邮电大学学报, 2004, 27(5): 31-35 |
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| 作者姓名： | 于艳秋 廖启征 |
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| 作者单位： | 北京邮电大学 自动化学院,北京 100876 |
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| 基金项目： | 国家自然科学基金，国家重点基础研究发展计划(973计划) |
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| 摘 要： | 本文研究了一种用于病人手术的1P5R医用机器人。针对该种机器人的具体结构,提出了一种新的位置反解算法。首先建立6个简单的运动学方程,经过消元后得到了一个一元12次多项式方程。说明在该种特殊情况下机器人的位置反解最多存在12个根,最后用数值算例进行了验证。
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| 关 键 词： | 1P5R机器人 位置反解 运动学方程 |
| 文章编号： | 1007-5321(2004)05-0031-05 |
| 收稿时间： | 2003-09-20 |
| 修稿时间： | 2003-09-20 |
An Algorithm on Inverse Kinematics of 1P5R Surgical Robot |
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| YU Yan-qiu,LIAO Qi-zheng. An Algorithm on Inverse Kinematics of 1P5R Surgical Robot[J]. Journal of Beijing University of Posts and Telecommunications, 2004, 27(5): 31-35 |
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| Authors: | YU Yan-qiu LIAO Qi-zheng |
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| Affiliation: | Aut omation School, Beijing Univ ersi t y of Pos ts and Telecommu ni cati ons, Beijing 100876, Ch ina |
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| Abstract: | The inverse kinematics of a 1P5R robot used for surgery is studied. A novel algorithm for the inverse kinematics is derived from six simple polynomial equations. After eliminate several unknowns the equation with only one unknown variable is obtained, which is a 12~(th) degree polynomial equation in one unknown. This means that the robot has 12 different possible configurations. Finally, the result is verified by a numerical example. |
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| Keywords: | 1P5R robot inverse kinematic analysis kinematic equation |
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