Open AccessKinematics modeling of redundant manipulator based on screw theory and Newton-Raphson method
Author(s) -
Dawei Ge
Publication year - 2022
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2246/1/012068
Subject(s) - inverse kinematics , kinematics , forward kinematics , kinematics equations , parallel manipulator , screw theory , computer science , matlab , robotics , manipulator (device) , control theory (sociology) , robot manipulator , newton's method , inverse , serial manipulator , robot kinematics , mathematics , artificial intelligence , robot , nonlinear system , control (management) , geometry , physics , classical mechanics , quantum mechanics , mobile robot , operating system
In this paper, forward kinematics and inverse kinematicsis algorithms are proposed to solve the problem that the redundant manipulator has more freedom than the traditional manipulator and cannot directly solve the inverse kinematics analytical solution. Firstly, the forward kinematics model is established through the screw theory; secondly, Newton-Raphson method is used to solve the inverse kinematics of the manipulator. Finally, the algorithms of redundant manipulator are verified through an example simulated by Matlab Robotics toolbox. The results show that the kinematic algorithms are correct, which provides a good algorithm basis for subsequent dynamic control.