Inverse Kinematics Analysis of a 6-DOF Manipulator Using Spherical Geometry Method

A 6-DOF cooperative manipulator is used for human spinal deformity detection. In order to ensure the scanning quality of spinal deformity and improve the solution rate and speed of inverse motion solution of the manipulator, an inverse kinematics analytical method based on spherical geometry is proposed in this paper. We take the AUBO-i5 collaborative manipulator as the research object, which combines the rapidity of analytical solution with the flexibility of spherical solution. In the Robot Operating System, the simulation experiment solves the inverse kinematics of 10 000 sets of randomly generated postures. The success rate and time-consuming of the solution are calculated. Compared with the two commonly used inverse kinematics solving algorithms, TRAC-IK and KDL, this method has obvious advantages in terms of success rate and average time-consuming. © 2022, Shanghai Jiao Tong University.