A Complete Solution for the Inverse Kinematic Problem of the General 6R Robot Manipulator-Reference-Cited by-同舟云学术

A Complete Solution for the Inverse Kinematic Problem of the General 6R Robot Manipulator

Published:1991-12-01 Issue:4 Volume:113 Page:481-486
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Lee H. Y.¹,Woernle C.²,Hiller M.³

Affiliation:

1. Department of Mechanical Engineering, Beijing University of Posts and Telecommunications, Beijing 100088, China

2. Institute A of Mechanics, University of Stuttgart, Pfaffenwaldring 9, 7000 Stuttgart 80, Germany

3. Department of Mechanics, University of Duisburg, Lotharstrasse 21, 4100 Duisburg, Germany

Abstract

The inverse kinematic problem of the general 6R robot manipulator is completely solved by means of a 16th degree polynomial equation in the tangent of the half-angle of a revolute joint. An algorithm is developed to compute the desired joint angles of all possible configurations of the kinematic chain for a given position of the end-effector. Examples for robots with maximal 16 different configurations show that the polynomial degree 16 is the lowest possible for the general 6R robot manipulator. Further, a numerical method for the determination of the boundaries of the workspace and its subspaces with different numbers of configurations is developed. These boundaries indicate the singular positions of the end-effector.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/113/4/481/5919976/481_1.pdf

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