Solvable Criteria and Sequential Solution Method for the General 6R Inverse Kinematics Problem

被引：0

作者：

Zhang, Justin ^{[1
]}

Zhang, Winston ^{[1
]}

Zhang, Michael ^{[2
]}

机构：

[1] Univ Michigan, Ann Arbor, MI 48109 USA

[2] Ford Motor Co, Dearborn, MI 48120 USA

来源：

2021 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (IEEE ICMA 2021) | 2021年

关键词：

Inverse Kinematics; joint superposition; 6R robot; displacement analysis; closed-loop linkage; DISPLACEMENT ANALYSIS; SPATIAL; 7-LINK;

D O I：

10.1109/ICMA52036.2021.9512699

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The inverse kinematics solution for a general 6R manipulator has been a notable problem in the robotics field. Previous work has derived sixteenth-degree univariate polynomials for solving each individual joint variable in the general 6R case. We develop a novel criteria for the evaluation of the solvability of different 6R joint structures based on joint-angle superposition. A method for the sequential solving of joint variables in 6R robots with possible inverse solutions is then introduced. The proposed method can be easily and reliably applied for the analysis of 6R robots.

引用

页码：17 / 21

页数：5

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