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

Justin Zhang,Winston Zhang, Michael Zhang

2021 IEEE International Conference on Mechatronics and Automation (ICMA)（2021）

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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 sequ...

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关键词

Couplings,Mechatronics,Automation,Conferences,Kinematics,Manipulators,Reliability

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