A new solution to the inverse position analysis of the redundant serial robot

作者：Zhao, Yong Jie^*; Dong, Xing Jian

来源：Journal of Shanghai Jiaotong University (Science), 2010, 15(5): 610-614.

DOI：10.1007/s12204-010-1056-5

• Inverse solution
• Jacobi matrix
• Minimization problems
• Nonlinear least square problem
• Optimization method
• Position analysis
• Serial robots

A new solution to the inverse position analysis of the redundant serial robot is presented. The inverse position analysis problem of the redundant serial robot is transformed into a minimization problem and then the optimization method is adopted to solve the nonlinear least square problem with the analytic form of a new Jacobi matrix. In this way, the inverse solution of the redundant serial robot can be searched out quickly under the desired precision when the positions of the three non-collinear end effector points are given. The inverse position analysis of the 7R redundant serial robot is illustrated as an example and the simulation results verify the efficiency of the proposed algorithm.

• 出版日期2010
• 单位上海交通大学