Inverse Kinematics Solution and Verification of 4-DOF Hydraulic Manipulator

Aimed at four degree of freedom (DOF) hydraulic manipulator, an inverse kinematics solution is proposed from Cartesian space to drive space based on geometrical method. To the structural and diver characteristics of the manipulator, a forward kinematics is conducted by using D-H method. The position and orientation of manipulator's end-effector can be obtained under the kinematics constraint. By analyzing the structure, the solution of inverse kinematics of manipulator can be obtained, and the conversion between drive space and joint space can be got through the sport's mechanism kinematics. In order to meet the need of motion planning and control of the manipulator, the inverse kinematics and conversion are validated based on simulation.