Inverse Kinematics at the Anthropomorphic Robots, by a Trigonometric Method

摘要

A robot is a machine especially programmable one through a computer capable of performing a complex series of actions in the automatic mode. Robots may be guided by a control device or external control may be incorporated in the inside. Robots can be built to take human form, but most robots are machines designed to perform a task without taking into account the manner in which it looks. The branch of the technology which is concerned with the design, construction, operation and application of robots, as well as other information systems for their control, the feedback of the touch screen and processing information is quite robotic. These technologies do with automatic machine, which may take the place of the people in hazardous environments or manufacturing processes, or looks like people in appearance, behavior and/or cognitive. Many of the robots of today are inspired by nature which contributes to the field of robotics bio-inspired by it. These robots have created a new branch of robotic (robotic soft). From the time of the ancient civilization there have been many accounts of devices user-configurable automatic and even similar to automatic and people, intended primarily as entertainment. As the mechanical techniques developed by the era of industrial, there were several practical applications, such as automatic machine, remote control and wireless remote control included. Anthropomorphic robots have in their component a plane structure 2R, which is a basic structure. In the reverse (inverse) kinematic, are known the kinematic parameters x_M and y_M, which represents the co-ordinates of scaling point M (endeffector M) and must be determined by analytical calculation the parameters φ_(20) and φ_(30). First, it determines the intermediary parameters, d and φ with relations (1). For the purpose of determining angles can be used various methods (trigonometric, geometric, etc.), of which will be presented below one of them (as the most representative): A trigonometric method.