2010•Journal of Zhejiang University(Engineering Science)Requires access
Inverse kinematics analysis for 6 degree-of-freedom modular manipulator
Botao Zhang
Open publisher page 11 citations
Abstract
An inverse kinematics procedure was proposed aimed at the developed 6 degree-of-freedom(DOF) modular manipulator.The kinematics of the manipulator was analyzed according to the structural characteristic and the kinematic constraint.A forward kinematics model of the maniputor was conducted,and the complete analytical solution of the inverse kinematics was obtained.The Denavit-Hartenberg(D-H) method was used to describe the workspace of the manipulator,resulting in the forward kinematics model with angle variables under the kinematic constraint of the manipulator.The solvability of the forward kinematics model was analyzed.Then the complete analytical solution of the inverse kinematics can be acquired by solving the forward kinematics model with the inverse matrix analysis.Simulation results verified the correctness of the forward kinematics model and the inverse kinematics solution.The inverse kinematics results can be further used for the precise location of end-effector and the motion planning.