Coordinate Systems and the Inverse Velocity Problem of Manipulators with Spherical Wrists

Abstract

We show that in order to obtain a canonical (simplest) form of the solution to the inverse velocity problem of a six-axis manipulator with a spherical wrist, the simultaneous use of two distinct coordinate systems is required. One coordinate system will yield a canonical solution for the joint rates of the arm subassembly, and the other coordinate system will yield a canonical solution for the joint rates of the wrist subassembly.