Determination of the Inverse Kinematics Branches of Solution Based on Joint Coordinates for Universal Robots-Like Serial Robot Architecture-Reference-Cited by-同舟云学术

Determination of the Inverse Kinematics Branches of Solution Based on Joint Coordinates for Universal Robots-Like Serial Robot Architecture

Published:2021-11-18 Issue:3 Volume:14 Page:
ISSN:1942-4302
Container-title:Journal of Mechanisms and Robotics
language:en
Short-container-title:

Author:

Schreiber Louis-Thomas¹,Gosselin Clément²

Affiliation:

1. Robotiq, 966 Chemin Olivier #500, Saint-Nicolas, Quebec G7A 2N1, Canada

2. Department of Mechanical Engineering, University of Laval, Pavillon Adrien-Pouliot, 1065 Avenue de la Médecine, Québec G1V 0A6, Canada

Abstract

Abstract This paper introduces a classification of the inverse kinematics solutions (or robot postures) of six degrees-of-freedom serial robots with a geometry based on or similar to Universal Robots’ arms. The solution of the inverse kinematics problem is first presented briefly, and the equations required to classify the robot postures(branches) based on the joint coordinates are then introduced.

Publisher

ASME International

Subject

Mechanical Engineering

Link

https://asmedigitalcollection.asme.org/mechanismsrobotics/article-pdf/14/3/034501/6802250/jmr_14_3_034501.pdf

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4. On the Numerical Solution of the Inverse Kinematic Problem;Angeles;Int. J. Robot. Res.,1985

5. Efficient Inverse Kinematics for General 6r Manipulators;Manocha;IEEE. Trans. Rob. Autom.,1994

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