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Inverse kinematics algorithm for the automated fiber placement robotic manipulator
Published:2015-06-10 author:GUO Juan1,LIN Yong2 Browse: 2986 Check PDF documents

 Inverse kinematics algorithm for the automated fiber placement

robotic manipulator
GUO Juan1,LIN Yong2
(1. Department of Dianda Working,Anyang Vocational and Technical College,Anyang 455000,China;
2. Zhijiang College,Zhejiang University of Technology,Hangzhou 310024,China)
Abstract:Aiming at solving inverse kinematics of the automated fiber placement robotic manipulator,an algorithm based on the position
vector and posture transformation matrix was proposed. Firstly the kinematics equation of the robot was established based on the D-H
parameter and its link parameters were determined. Finally taking the S shaped inlet processing of one type of plane as an example,the
simulation of the motion trajectory of the end effector was made. The results indicate that the proposed algorithm is effective.
Key words:robotic manipulator;inverse kinematics;position vector;posture transfer matrix
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