JIANG Ru-kang (姜如康), HUANG Liang-song (黄梁松), JIANG Xue-mei （姜雪梅）
(College of Information and Electrical Engineering, Shandong University of Science and Technology, Qingdao 266590, China)
Abstract：This paper uses a 7-degree-of-freedom (7-DOF) manipulator end-effector to research inverse kinematics solution, Three methods are used and compared, including fixing an angle method, the iteration method and the neutral network method. By comparison, the iteration method is much better because of its high accuracy, fast speed and stabilization, and it does not require calculation of the pseudoinverse of the Jacobian. Thus, this control scheme is well suited for real-time implementation, which is essential if the end-effector trajectory is continuously modified based on sensor's feedback. Finally, using VC++ and Microsoft foundation classes (MFC) to achieve the main machine interface. Through verification, the precision meets the requirements of general control system in real-time implementation.
Key words：7-degree-of-freedom (7-DOF)； iteration; neural network; Microsoft foundation classes (MFC)； inverse kinematics
CLD number： TP242 Document code： A
Article ID： 1674-8042(2013)01-0063-05 doi： 10. 3969/j. issn. 1674-8042.2013.01.014
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