CAJ | 학술논문

为了实现 EAST装置真空室内的内窥多关节机械臂的实时高精度控制，提出了一种逆运动学算法，即建立机械臂多变量的方程组，转化成为矩阵的特征值问题求解。为了验证和满足实际控制的需要，还基于VC++6.0开发了 MFC 运动学算法程序。结果表明，该算法能在 ms 级别内得到机械臂的所有运动学逆解。
위료실현 EAST장치진공실내적내규다관절궤계비적실시고정도공제，제출료일충역운동학산법，즉건립궤계비다변량적방정조，전화성위구진적특정치문제구해。위료험증화만족실제공제적수요，환기우VC++6.0개발료 MFC 운동학산법정서。결과표명，해산법능재 ms 급별내득도궤계비적소유운동학역해。
A universal inverse kinematics algorithm which aim is for EAST in-vessel viewing manipulators with coupled articulated structure has been proposed to realize its real-time and high accuracy control. This is to build manipulator kinematics multivariable equations, which can be expressed as a univariate matrix polynomial and solved through getting the eigenvalues of the matrix determinant eventually. Moreover, in order to meet the requirement of programming and actual control of manipulator, positive and inverse kinematics was validated by software developed based on MFC of VC++6.0. The solved instance indicated that the proposed algorithm can obtain all of the inverse kinematics solutions of the manipulators in ms level.