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2011•Advanced materials researchOpen access

Inverse Kinematics Solution for a 6R Special Configuration Manipulators Based on Screw Theory

Yue Sheng Tan, Peng Le Cheng, Ai Ping Xiao

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Abstract

Three basic sub-problems of screw theory are acceptable for some particular configuration manipulators’ inverse kinematics, which can not solve the inverse kinematics of all configuration manipulators. This paper introduces two extra extended sub-problems, through which all inverse kinematic solutions for 6-R manipulators having closed-form inverse kinematics can be gained. The inverse kinematic solution for a new particular configuration manipulator is presented.

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What this paper is about

Three basic sub-problems of screw theory are acceptable for some particular configuration manipulators’ inverse kinematics, which can not solve the inverse kinematics of all configuration manipulators. This paper introduces two extra extended sub-problems, through which all inverse kinematic solutions for 6-R manipulators having closed-form inverse kinematics can be gained. The inverse kinematic solution for a new particular configuration manipulator is presented.

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Available abstract

Three basic sub-problems of screw theory are acceptable for some particular configuration manipulators’ inverse kinematics, which can not solve the inverse kinematics of all configuration manipulators. This paper introduces two extra extended sub-problems, through which all inverse kinematic solutions for 6-R manipulators having closed-form inverse kinematics can be gained. The inverse kinematic solution for a new particular configuration manipulator is presented.

Key concepts: Inverse kinematics, Kinematics, Screw theory, Inverse, Control theory (sociology), Inverse dynamics, Mathematics, Manipulator (device)

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Inverse Kinematics Solution for a 6R Special Configuration Manipulators Based on Screw Theory — Research Paper | ScholarLens