摘要
A 6-DOF cooperative manipulator is used for human spinal deformity detection.In order to ensure the scanning quality of spinal deformity and improve the solution rate and speed of inverse motion solution of the manipulator,an inverse kinematics analytical method based on spherical geometry is proposed in this paper.We take the AUBO-i5 collaborative manipulator as the research object,which combines the rapidity of analytical solution with the flexibility of spherical solution.In the Robot Operating System,the simulation experiment solves the inverse kinematics of 10000 sets of randomly generated postures.The success rate and time-consuming of the solution are calculated.Compared with the two commonly used inverse kinematics solving algorithms,TRAC-IK and KDL,this method has obvious advantages in terms of success rate and average time-consuming.
作者
LIU Qunpo
LIU Guanghui
FEI Shumin
WANG Haixing
ZHANG Jianjun
刘群坡;刘广辉;费树岷;王海星;张建军(School of Electrical Engineering and Automation,Henan Polytechnic University,Jiaozuo,Henan,454002,China;School of Automation,Southeast University,Nanjing,211189,China;Henan International Joint Laboratory of Direct Drive and Control of Intelligent Equipment,Henan Polytechnic University,Jiaozuo,Henan,454002,China)
基金
the National Key Research and Development Program(No.2016YFC0600906)
the Science and Technology Innovation Team of Colleges and Universities in Henan Province(No.20IRTSTHN019)
the Innovative Science and Technology Talents Team Construction Project of Henan Province(No.CXTD2016054)
the Science and Technology Project of Henan Province(No.172102210270)。
