一般的な3Rロボットの幾何学的解析と、直交ロボットのクラスが4つの逆運動学解を持つための必要十分条件
Geometric analysis of generic 3R robots, and necessary and sufficient conditions for a class of orthogonal robots to have four IKS
共形幾何代数に基づく手法を用いて、一般的な3Rロボットの逆運動学解析を行い、4つの逆運動学解を持つための条件を幾何学的に導出した。特に、直交ロボットのクラスに対して必要十分条件を提示している。
著者: Durgesh Haribhau Salunkhe, Abhilash Nayak
分類: cs.RO
原文アブストラクト
The kinematic analysis of a generic 3R robot has been investigated with multiple approaches in the past. The algebraic approaches have established concrete results but are unfortunately limited to special classes or architectural simplifications. Geometric approaches on the other hand have extended the analysis to generic robots while also providing an intuitive understanding of their kinematic properties. We use the best of both approaches to present the kinematic analysis of a generic 3R robot, using the inverse kinematic model inherited from a method based on conformal geometric algebra. The paper discusses a generic framework to study the conditions for a 3R robot to have four inverse kinematic solutions (IKS) and allows to study the distribution of IKS as seen in workspace. The necessary and sufficient conditions for a class of orthogonal robots are presented using the proposed approach.