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Wang Yang; Wang Ben; Mai Xiaoming
Jixie Chuandong, 01/2019Journal Article
A solving method for the inverse-kinematics (IK) problem of a kind of 6 degree of freedom (DOF) manipulator with the axes of the 3 adjacent rotational joints in the arm part,shoulder,elbow and wrist parallel is presented. The merit of this method is that,by utilizing the geometrical relation between the end-effector,hand and wrist of the manipulator determined by its structure,the position of the wrist corresponding to a desired end-effector orientation and position can be solved at the first step in the whole calculation process. And then,the solution of a 6-variable equations,which describes the relationship between the 6 joint positions of the manipulator and its end-effector orientation and position is reduced into two 3-variable equations,one of which describes the relationship between the wrist position and the positions of 3 joints distributed in the shoulder and elbow,and the other describes the relationship between the end-effector orientation and the positions of the rest 3 joint distributed in the
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