论文标题
分析逆运动学的5多道机器人臂，带有棱镜关节
Analytical Inverse Kinematics for a 5-DoF Robotic Arm with a Prismatic Joint
论文作者
论文摘要
我们提出了一个机器人臂的逆运动学（IK）的分析解决方案，该机器人臂带有一个棱镜关节和四个Revolute关节。这种5-DOF设计是在可穿戴使用情况下保留设备功能的同时最大程度地减少重量的结果。通常，由于系统过度约束，因此5多型机器人的IK问题不能保证解决方案。我们通过应用几何预测并限制每个DOF的运动范围来获得分析解决方案。我们通过重建随机采样的末端姿势来验证该解决方案，并找到低于2 cm的位置误差，而定向误差低于4度。
We present an analytical solution for the inverse kinematics (IK) of a robotic arm with one prismatic joint and four revolute joints. This 5-DoF design is a result of minimizing weight while preserving functionality of the device in a wearable usage context. Generally, the IK problem for a 5-DoF robot does not guarantee solutions due to the system being over-constrained. We obtain an analytical solution by applying geometric projections and limiting the ranges of motion for each DoF. We validate this solution by reconstructing randomly sampled end-effector poses, and find position errors below 2 cm and orientation errors below 4 degrees.
