摘要
This paper proposes an analytical solution for a 5-DOF manipulator to follow a given trajectory while keeping the orientation of one axis in the end-effector frame. The forward kinematics and inverse kinematics for a 5-DOF manipulator are analyzed systematically. The singular problem is discussed after the forward kinematics is provided. For any given reachable position and orientation of the end-effector, the derived inverse kinematics will provide an accurate solution. In other words, there exists no singular problem for the 5-DOF manipulator, which has wide application areas such as welding, spraying, and painting. Experiment results verify the effectiveness of the methods developed in this paper. Keywords Inverse kinematics - modeling and control - 5-DOF manipulator This work was supported by the National High Technology Research and Development Program of China (No. 2002AA422160), and the National Key Fundamental Research and Development Project of China (973, No.2002CB312200)De Xu graduated from Shandong University of Technology (SUT), China in 1985. He received a Masters degree from SUT in 1990, and a Ph.D. degree from Zhejiang University, China in 2001. He has been with the Institute of Automation, at the Chinese Academy of Sciences (CASIA) since 2001. He is an associate professor with the Laboratory of Complex Systems and Intelligence Science, CASIA. He worked as on academic visitor in the Department of Computer Science, at the University of Essex from May to August 2004. He is a member of the IEEE. His research interests include robotics and automation, especially the control of robots such as visual and intelligent control.Carlos Antonio Acosta Calderon received a B.S. degree in Computer Science Engineering from Pachuca Institute of Technology, Mexico in 2000, and a M.Sc. degree in Computer Science (Robotics and Intelligent Machines) from the University of Essex, UK in 2001. He is currently pursuing a Ph.D degree in Computer Science at the University of Essex, UK. His research interests have focused on mobile robots, in particular, the coordination of multi-robot systems, mobile manipulators, and learning by imitation. He is a member of IEEE.John Q. Gan received a B.Sc. degree in electronic engineering from Northwestern Polytechnic University, China in 1982, a M.Eng. degree in automatic control and a Ph.D degree in biomedical electronics from Southeast University, China in 1985 and 1991, respectively. He is a Senior Lecturer in the Department of Computer Science at the University of Essex, UK. He has co-authored a book, and published over 100 research papers. His research interests are in robotics and intelligent systems, brain-computer interfaces, pattern recognition, signal processing, data fusion, and neurofuzzy computation.Huosheng Hu is a Professor in the Department of Computer Science, at the University of Essex, and head of the Human Centered Robotics Group. His research interests include autonomous mobile robots, human-robot interaction, evolutionary robotics, multi-robot collaboration, embedded systems, pervasive computing, sensor integration, RoboCup, intelligent control, and networked robotics. He has published over 200 papers in journals, books, and conferences, and received two best paper awards. He is a founding member of the IEEE Society of Robotics and Automation Technical Committee of Internet and Online Robots, and a member of the IASTED Technical Committee on “Robotics” for 2001–2004. He was a Conference Chairman for the 1st European Embedded Systems Conference in Paris, 1996, and has been a member of the Program Committees for many international conferences such as IROS (2005–2006), IASTED Robotics and Applications Conferences (2000-present), and RoboCup Symposiums (2000–2004). Dr. Hu is a Chartered Engineer, a senior member of IEEE, and a member of IEE, AAAI, ACM, IASTED and IAS.Min Tan graduated from Tsing Hua University, China in 1986. He received a Ph.D. degree in 1990 from CASIA. He is a professor with the Laboratory of Complex Systems and Intelligence Science, CASIA. He has published over 100 papers in journals, books, and conferences. His research interests include robotics and complex system theory.
This paper proposes an analytical solution for a 5-DOF manipulator to follow a given trajectory while keeping the orientation of one axis in the end-effector frame. The forward kinematics and inverse kinematics for a 5-DOF manipulator are analyzed systematically. The singular problem is discussed after the forward kinematics is provided. For any given reachable position and orientation of the end-effector, the derived inverse kinematics will provide an accurate solution. In other words, there exists no singular problem for the 5-DOF manipulator, which has wide application areas such as welding, spraying, and painting. Experiment results verify the effectiveness of the methods developed in this paper. Keywords Inverse kinematics - modeling and control - 5-DOF manipulator This work was supported by the National High Technology Research and Development Program of China (No. 2002AA422160), and the National Key Fundamental Research and Development Project of China (973, No.2002CB312200)De Xu graduated from Shandong University of Technology (SUT), China in 1985. He received a Masters degree from SUT in 1990, and a Ph.D. degree from Zhejiang University, China in 2001. He has been with the Institute of Automation, at the Chinese Academy of Sciences (CASIA) since 2001. He is an associate professor with the Laboratory of Complex Systems and Intelligence Science, CASIA. He worked as on academic visitor in the Department of Computer Science, at the University of Essex from May to August 2004. He is a member of the IEEE. His research interests include robotics and automation, especially the control of robots such as visual and intelligent control.Carlos Antonio Acosta Calderon received a B.S. degree in Computer Science Engineering from Pachuca Institute of Technology, Mexico in 2000, and a M.Sc. degree in Computer Science (Robotics and Intelligent Machines) from the University of Essex, UK in 2001. He is currently pursuing a Ph.D degree in Computer Science at the University of Essex, UK. His research interests have focused on mobile robots, in particular, the coordination of multi-robot systems, mobile manipulators, and learning by imitation. He is a member of IEEE.John Q. Gan received a B.Sc. degree in electronic engineering from Northwestern Polytechnic University, China in 1982, a M.Eng. degree in automatic control and a Ph.D degree in biomedical electronics from Southeast University, China in 1985 and 1991, respectively. He is a Senior Lecturer in the Department of Computer Science at the University of Essex, UK. He has co-authored a book, and published over 100 research papers. His research interests are in robotics and intelligent systems, brain-computer interfaces, pattern recognition, signal processing, data fusion, and neurofuzzy computation.Huosheng Hu is a Professor in the Department of Computer Science, at the University of Essex, and head of the Human Centered Robotics Group. His research interests include autonomous mobile robots, human-robot interaction, evolutionary robotics, multi-robot collaboration, embedded systems, pervasive computing, sensor integration, RoboCup, intelligent control, and networked robotics. He has published over 200 papers in journals, books, and conferences, and received two best paper awards. He is a founding member of the IEEE Society of Robotics and Automation Technical Committee of Internet and Online Robots, and a member of the IASTED Technical Committee on “Robotics” for 2001–2004. He was a Conference Chairman for the 1st European Embedded Systems Conference in Paris, 1996, and has been a member of the Program Committees for many international conferences such as IROS (2005–2006), IASTED Robotics and Applications Conferences (2000-present), and RoboCup Symposiums (2000–2004). Dr. Hu is a Chartered Engineer, a senior member of IEEE, and a member of IEE, AAAI, ACM, IASTED and IAS.Min Tan graduated from Tsing Hua University, China in 1986. He received a Ph.D. degree in 1990 from CASIA. He is a professor with the Laboratory of Complex Systems and Intelligence Science, CASIA. He has published over 100 papers in journals, books, and conferences. His research interests include robotics and complex system theory.
基金
This work was supported by the National High Technology Research and Development Program of China (No. 2002AA422160)the National Key Fundamental Research and Development Project of China (973, No.2002CB312200)
