TY - GEN
T1 - A kinematics modeling method of linkage robot based on euler spinning method
AU - Zhou, Shitong
AU - Song, Qiuzhi
AU - Wang, Xin
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/2
Y1 - 2017/7/2
N2 - In order to establish link coordinate systems fast and succinctly, thus execute kinematic analysis of the manipulator, this paper defines the Direct Coordinate System method. This method is based on the Euler Rotation theorem and refers to the DH method. Compared with the standard DH method, Direct Coordinate System method simplifies the process of establishing the link coordinate systems and reduces the parameters that describing the link, besides, in dealing with complex geometrical characteristics, the Direct Coordinate System method has great advantages. In order to verify the accuracy of the Direct Coordinate System method, this paper establishes the positive kinematics model of the PUMA560 robot and a special two bar linkage mechanism respectively using DH method and the Direct Coordinate System method, and then performs workspace simulation of their positive kinematics model using Monte Carlo method, the experimental results show that the Direct Coordinate System method is in completely agreement with the DH method.
AB - In order to establish link coordinate systems fast and succinctly, thus execute kinematic analysis of the manipulator, this paper defines the Direct Coordinate System method. This method is based on the Euler Rotation theorem and refers to the DH method. Compared with the standard DH method, Direct Coordinate System method simplifies the process of establishing the link coordinate systems and reduces the parameters that describing the link, besides, in dealing with complex geometrical characteristics, the Direct Coordinate System method has great advantages. In order to verify the accuracy of the Direct Coordinate System method, this paper establishes the positive kinematics model of the PUMA560 robot and a special two bar linkage mechanism respectively using DH method and the Direct Coordinate System method, and then performs workspace simulation of their positive kinematics model using Monte Carlo method, the experimental results show that the Direct Coordinate System method is in completely agreement with the DH method.
KW - DH
KW - Euler Rotation theorem
KW - Kinematics
KW - Link description
KW - Monte Carlo method
UR - http://www.scopus.com/inward/record.url?scp=85050925081&partnerID=8YFLogxK
U2 - 10.1109/ICUS.2017.8278422
DO - 10.1109/ICUS.2017.8278422
M3 - Conference contribution
AN - SCOPUS:85050925081
T3 - Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017
SP - 104
EP - 109
BT - Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017
A2 - Xu, Xin
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Unmanned Systems, ICUS 2017
Y2 - 27 October 2017 through 29 October 2017
ER -