Journal of Astronautics ›› 2019, Vol. 40 ›› Issue (11): 1262-1273.doi: 10.3873/j.issn.1000-1328.2019.11.002

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Overview of Manipulator Kinematics Modeling and Solving Method

LENG Shu, WU Ke, JU He hua   

  1. 1. College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
    2. Beijing Institute of Spacecraft System Engineering, Beijing 100094, China
  • Received:2019-04-15 Revised:2019-05-16 Online:2019-11-15 Published:2019-11-25

Abstract: This paper focuses on the manipulator kinematics modeling and solving approach. It introduces the outstanding methods for a chain-type manipulator in the areas of mathematic representation, kinematic model building and solving method. The advantage and disadvantage of those methods are discussed in the paper. Moreover, the open sources for the practical project are demonstrated, and the computational accuracy and efficiency are analyzed. In the end, the key theory and technique problems to be solved are discussed in depth. The summarization mentioned above provides a way to model and solve the kinematics of the manipulator.

Key words:  Manipulator, Forward kinematics, Inverse kinematics, Modeling, Calculation method

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