Computer-aided optimization in the inverse kinematics of redundant robot

Qianpeng Han; Qiang Zhan

Computer-aided optimization in the inverse kinematics of redundant robot

Qianpeng Han^*
, Qiang Zhan

^*此作品的通讯作者

机械工程及自动化学院

Beihang University

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

摘要

A simple optimization model of inverse kinematics of redundant robot is presented. The possibility of resolving this optimization question is explored in ISIGHT, which is a kind of software of computer aid optimization. With the tools of computer aid optimization, the calculation of Jacobian matrix and its pseudoinverse are avoided according to the presented optimization model. Two examples are used to illustrate this method, including a plane 3_DOF (Degree of Freedom) robot and a 7_DOF module robot.

源语言	英语
主期刊名	Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003
编辑	H. Yang, L. Qiao, I.-S. Fan
页	125-128
页数	4
出版状态	已出版 - 2003
活动	Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003 - Beijing, 中国期限: 4 12月 2003 → 6 12月 2003

出版系列

姓名	Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003

会议

会议	Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003
国家/地区	中国
市	Beijing
时期	4/12/03 → 6/12/03

联合国可持续发展目标

此成果有助于实现下列可持续发展目标：

可持续发展目标 9 产业、创新和基础设施

其它文件与链接

链接到 Scopus 的出版物

引用此

Han, Q., & Zhan, Q. (2003). Computer-aided optimization in the inverse kinematics of redundant robot. 在 H. Yang, L. Qiao, & I.-S. Fan (编辑), Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003 (页码 125-128). (Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003).

Han, Qianpeng ; Zhan, Qiang. / Computer-aided optimization in the inverse kinematics of redundant robot. Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003. 编辑 / H. Yang ; L. Qiao ; I.-S. Fan. 2003. 页码 125-128 (Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003).

@inproceedings{2e1904d322ce41428706348b53ef970e,

title = "Computer-aided optimization in the inverse kinematics of redundant robot",

abstract = "A simple optimization model of inverse kinematics of redundant robot is presented. The possibility of resolving this optimization question is explored in ISIGHT, which is a kind of software of computer aid optimization. With the tools of computer aid optimization, the calculation of Jacobian matrix and its pseudoinverse are avoided according to the presented optimization model. Two examples are used to illustrate this method, including a plane 3\_DOF (Degree of Freedom) robot and a 7\_DOF module robot.",

keywords = "Algorithm, Computer aid optimization, Inverse kinematics, Jacobian matrix, Pseudoinverse, Redundant robot",

author = "Qianpeng Han and Qiang Zhan",

year = "2003",

language = "英语",

isbn = "7111133951",

series = "Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003",

pages = "125--128",

editor = "H. Yang and L. Qiao and I.-S. Fan",

booktitle = "Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003",

note = "Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003 ; Conference date: 04-12-2003 Through 06-12-2003",

}

Han, Q & Zhan, Q 2003, Computer-aided optimization in the inverse kinematics of redundant robot. 在 H Yang, L Qiao & I-S Fan (编辑), Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003. Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003, 页码 125-128, Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003, Beijing, 中国, 4/12/03.

Computer-aided optimization in the inverse kinematics of redundant robot. / Han, Qianpeng; Zhan, Qiang.
Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003. 编辑 / H. Yang; L. Qiao; I.-S. Fan. 2003. 页码 125-128 (Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Computer-aided optimization in the inverse kinematics of redundant robot

AU - Han, Qianpeng

AU - Zhan, Qiang

PY - 2003

Y1 - 2003

N2 - A simple optimization model of inverse kinematics of redundant robot is presented. The possibility of resolving this optimization question is explored in ISIGHT, which is a kind of software of computer aid optimization. With the tools of computer aid optimization, the calculation of Jacobian matrix and its pseudoinverse are avoided according to the presented optimization model. Two examples are used to illustrate this method, including a plane 3_DOF (Degree of Freedom) robot and a 7_DOF module robot.

AB - A simple optimization model of inverse kinematics of redundant robot is presented. The possibility of resolving this optimization question is explored in ISIGHT, which is a kind of software of computer aid optimization. With the tools of computer aid optimization, the calculation of Jacobian matrix and its pseudoinverse are avoided according to the presented optimization model. Two examples are used to illustrate this method, including a plane 3_DOF (Degree of Freedom) robot and a 7_DOF module robot.

KW - Algorithm

KW - Computer aid optimization

KW - Inverse kinematics

KW - Jacobian matrix

KW - Pseudoinverse

KW - Redundant robot

UR - https://www.scopus.com/pages/publications/1842558818

M3 - 会议稿件

AN - SCOPUS:1842558818

SN - 7111133951

T3 - Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003

SP - 125

EP - 128

BT - Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003

A2 - Yang, H.

A2 - Qiao, L.

A2 - Fan, I.-S.

T2 - Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003

Y2 - 4 December 2003 through 6 December 2003

ER -

Han Q, Zhan Q. Computer-aided optimization in the inverse kinematics of redundant robot. 在 Yang H, Qiao L, Fan IS, 编辑, Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003. 2003. 页码 125-128. (Proceedings of the International Conference on Agile Manufacturing, Advances in Agile Manufacturing, ICAM 2003).

Computer-aided optimization in the inverse kinematics of redundant robot

摘要

出版系列

会议

联合国可持续发展目标

其它文件与链接

指纹

引用此