Journal of South China University of Technology(Natural Science Edition) ›› 2018, Vol. 46 ›› Issue (9): 30-35.doi: 10.3969/j.issn.1000-565X.2018.09.005

• Mechanical Engineering • Previous Articles     Next Articles

Inverse Kinematic of Six-axis robots based on R* (3,0,1) Geometric Algebra

DU Juan 1 WU Hongtao 1 YANG Xiaolong 1 CHEN Bai 1 CHENG Shili 2   

  1. 1． College of Mechanical and Electrical Engineering，Nanjing University of Aeronautics and Astronautics，Nanjing 210016，
    Jiangsu，China;
    2． School of Automotive Engineering，Yancheng Institute of Technology，Yancheng 224051，Jiangsu，China
  • Received:2017-11-30 Revised:2018-05-04 Online:2018-09-25 Published:2018-08-01
  • Contact: 吴洪涛( 1963-) ，男，教授，博士生导师，主要从事机器人动力学、并联机构等研究 E-mail: mehtwu@126.com
  • About author:杜鹃( 1990-) ，女，博士生，主要从事机器人机构学、几何代数研究．
  • Supported by:
    The National Natural Science Foundation of China( 51375230，51575256，51405417) and the Natural Science Foundation of Jiangsu Province( BK20140470)

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Abstract: The Geometric algebra model R^* (3,0,1) combines the benefits of dual quaternions and conformal geometric algebra, i.e., dual quaternions can compute faster while comformal geometric algebra have same translation algorithm for points and planes as well as have algorithm to compute sign distance between points and planes. A new inverse kinematic of industrial robots algorithm is proposed based on R^* (3,0,1) model, i.e., the unique solution of inverse kinematic of industrial robots is determined by the sign distances between joints and three singular planes, and the sign distances can be computed by R^* (3,0,1) model. This new algorithm can find unique solution without comparing a preferred one which is widely applied in general inverse kinematic solution. This new algorithm has advantages, such as be able to compute the sign distance to the singular planes, simple, high speed to compute unique inverse kinematic solution, effectively when applied to practical robot motion control. This algorithm is numerical verified on PUMA 560.

Key words:

industrial robots, inverse kinematics, geometric algebra, signed distance

CLC Number: