《机电工程》杂志社科技期刊核心期刊论文投稿机电一体化机械、仪表电工自动化、计算机浙江大学主办

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Inverse kinematics algorithm for the automated fiber placement robotic manipulator

Published:2015-06-10 author:GUO Juan1，LIN Yong2 Browse: 3585 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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