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| 逆運動学× | デナヴィット・ハーテンバーグパラメータ× | |
|---|---|---|
| 分野 | 製造工学 | 製造工学 |
| 系統 | Process / pipeline | Process / pipeline |
| 提唱年≠ | 1968 | 1955 |
| 提唱者≠ | Pieper, D. L. et al. | Denavit, J. and Hartenberg, R. S. |
| 種類≠ | Problem-solving method for robot control | Mathematical convention for describing articulated mechanisms |
| 原典≠ | Craig, J. J. (2005). Introduction to Robotics: Mechanics and Control (3rd ed.). Pearson Education. ISBN: 0-13-123629-6 | Denavit, J., & Hartenberg, R. S. (1955). A kinematic notation for lower-pair mechanisms based on matrices. Journal of Applied Mechanics, 22(2), 215-221. link ↗ |
| 別名 | IK problem, Joint angle calculation, Pose-to-angles | DH parameters, DH convention, Robot kinematics convention |
| 関連 | 4 | 4 |
| 概要≠ | Inverse kinematics is the computational problem of determining the joint angles required to position and orient the end-effector (tool) of an articulated mechanism at a desired pose (position and orientation). In contrast to forward kinematics, which computes end-effector position from joint angles, inverse kinematics solves the reverse mapping. This is essential for robot control: given a desired target location, IK finds the joint commands that achieve it. | The Denavit-Hartenberg (DH) convention is a systematic mathematical method for assigning coordinate frames to the links of an articulated robot or mechanism, enabling compact representation and computation of forward and inverse kinematics. Introduced by Denavit and Hartenberg in 1955, this method uses only four parameters per joint to describe the spatial relationship between adjacent links, dramatically simplifying kinematic analysis and control of complex multi-jointed systems. |
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