| 基于倍四元数和Groebner基的6R机械手的位置反解 |
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| 引用本文： | 倪振松,廖启征,魏世民,李瑞华,乔曙光. 基于倍四元数和Groebner基的6R机械手的位置反解[J]. 农业机械学报, 2009, 40(2): 190-194 |
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| 作者姓名： | 倪振松 廖启征 魏世民 李瑞华 乔曙光 |
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| 作者单位： | 北京邮电大学自动化学院,北京,100876;北京邮电大学自动化学院,北京,100876;北京邮电大学自动化学院,北京,100876;北京邮电大学自动化学院,北京,100876;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规划(973计划) |
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| 摘 要： | 提出了一般6R机械手的位置反解的新算法,该算法是把齐次变换矩阵转以倍四元数形式表示,建立了倍四元数形式的串联6R机械手运动学方程,再通过线性消元和两次应用分次字典序Groebner基消去5个变元,得到一个一元16次方程.此方法没有增根,是一种对空间任意尺寸6R机械手进行建模和求解的新算法.其中求解Groebner基采用了计算机代数系统进行有理数运算,目前的求解速度尚不是很高,需进一步改进.
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| 关 键 词： | 6R机械手 倍四元数 Groebner基 逆运动学分析 |
Qeneral 6R Robot Inverse Solution Based on Double Quaternion and Groebner Base |
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| Ni Zhensong,Liao Qizheng,Wei Shimin,Li Ruihua,Qiao Shuguang. Qeneral 6R Robot Inverse Solution Based on Double Quaternion and Groebner Base[J]. Transactions of the Chinese Society for Agricultural Machinery, 2009, 40(2): 190-194 |
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| Authors: | Ni Zhensong Liao Qizheng Wei Shimin Li Ruihua Qiao Shuguang |
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| Affiliation: | School of Automation;Beijing University of Posts and Telecommunications;Beijing 100876;China |
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| Abstract: | A new algorithm for the position inverse solution of the introduced general 6R robot was introduced.It is the homogeneous transformation matrix that translated to the double quaternions form,and on this basis,the series 6R robot kinematics equation with double quaternions form was established.And five variables were eliminated by the elimination of linear and two-time applications lexicographic Groebner base,a 16th degree equation contained a variable has been obtained.This method did not have any roots,it ... |
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| Keywords: | 6R robot Double quaternions Groebner base Inverse kinematics analysis |
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