发明名称 |
System for determining manipulator coordinates |
摘要 |
An inverse kinematics method of determining joint variables for a manipulator is obtained by forming a model by modifying offset values of a selected arm segments of the manipulator to define a model for which it is possible to derive closed-form inverse kinematics equations for solving the joint variables for said model, developing from said closed-form inverse kinematics equations a system of not more than 3 non-linear equations in not more than 3 unknowns which when solved give an inverse kinematics solution for the model, solving the system of at most 3 non-linear equations to provide the inverse kinematic solution for said manipulator to determine its joint variables.
|
申请公布号 |
US5293461(A) |
申请公布日期 |
1994.03.08 |
申请号 |
US19910794953 |
申请日期 |
1991.11.20 |
申请人 |
THE UNIVERSITY OF BRITISH COLUMBIA |
发明人 |
GRUDIC, GREGORY Z.;LAWRENCE, PETER D. |
分类号 |
B25J9/16;B25J9/18;(IPC1-7):G05B19/00 |
主分类号 |
B25J9/16 |
代理机构 |
|
代理人 |
|
主权项 |
|
地址 |
|