逆運動学arXiv:1906.07813
一般6R/Pマニピュレータの逆運動学
Inverse Kinematics of Some General 6R/P Manipulators
双四元数と射影幾何を用いて、2RP3R・2R2P2R・3RP2R・6Rマニピュレータの逆運動学を解くアルゴリズムを提案し、数値例で実解を示した。
著者: Jose Capco, Manuel Joseph C. Loquias, Saraleen Mae M. Manongsong, Fidel R. Nemenzo
分類: cs.RO, cs.CG
原文アブストラクト
We develop an algorithm that solves the inverse kinematics of general serial 2RP3R, 2R2P2R, 3RP2R and 6R manipulators based on the HuPf algorithm. We identify the workspaces of the 3-subchains of the manipulator with a quasi-projective variety in $\mathbb{P}^7$ via dual quaternions. This allows us to compute linear forms that describe linear spaces containing the workspaces of these 3-subchains. We present numerical examples that illustrate the algorithm and show the real solutions.
