Name
Abstract | ||
|---|---|---|
It is challenging to apply robotic inverse kinematics directly in simulation to real robot motion due to the multi-configuration problem, robot end deviation, and delay. To this end, this paper proposes a industrial robot modeling method for “Simulation to Real” to obtain the real joint angle vector given real end-effector target pose. In the first stage, the joint angle in simulation corresponding to the real end-effector pose, is calculated by improved Newton–Raphson method. In the second stage, a data-driven ResNet model, which is trained on enough simulated joint angles and end-effector pose obtained in the first stage, is used to acquire the end-effector pose in simulation. The joint angles in real environment can be obtained by the simulated end-effector pose in execution stage. The experiment takes a six-axis industrial robot as a case study. The results verify the feasibility and real-time performance of the inverse kinematics method in robotic motion from simulation to real environment. |
Year | DOI | Venue |
|---|---|---|
2022 | 10.1016/j.rcim.2022.102350 | Robotics and Computer-Integrated Manufacturing |
Keywords | DocType | Volume |
10-10,99-00 | Journal | 77 |
ISSN | Citations | PageRank |
0736-5845 | 0 | 0.34 |
References | Authors | |
0 | 6 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Wenzheng Liu | 1 | 1 | 2.04 |
| Chun Zhao | 2 | 0 | 0.34 |
| Yue Liu | 3 | 441 | 84.32 |
| Hongwei Wang | 4 | 93 | 16.84 |
| Zhao Wei | 5 | 23 | 20.57 |
| Heming Zhang | 6 | 97 | 28.48 |