Research of Inverse Kinematics Algorithm of 6 DOF Manipulator based on Geometry with Arm Adjacent Three Joints Axes Parallel
A solving method for the inverse-kinematics （IK） problem of a kind of 6 degree of freedom （DOF） manipulator with the axes of the 3 adjacent rotational joints in the arm part，shoulder，elbow and wrist parallel is presented. The merit of this method is that，by utilizing the geometrical relation between...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2019-01-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.11.009 |
| _version_ | 1826881638262374400 |
|---|---|
| author | Wang Yang Wang Ben Mai Xiaoming |
| author_facet | Wang Yang Wang Ben Mai Xiaoming |
| author_sort | Wang Yang |
| collection | DOAJ |
| description | A solving method for the inverse-kinematics （IK） problem of a kind of 6 degree of freedom （DOF） manipulator with the axes of the 3 adjacent rotational joints in the arm part，shoulder，elbow and wrist parallel is presented. The merit of this method is that，by utilizing the geometrical relation between the end-effector，hand and wrist of the manipulator determined by its structure，the position of the wrist corresponding to a desired end-effector orientation and position can be solved at the first step in the whole calculation process. And then，the solution of a 6-variable equations，which describes the relationship between the 6 joint positions of the manipulator and its end-effector orientation and position is reduced into two 3-variable equations，one of which describes the relationship between the wrist position and the positions of 3 joints distributed in the shoulder and elbow，and the other describes the relationship between the end-effector orientation and the positions of the rest 3 joint distributed in the wrist. This method reduces the complexity of solving the IK problem of a 6 DOF manipulator. The experiment results with an UR3 manipulator shows that，the method is able to compute the joints positions，in comparison with by applying the algorithm of the UR3 controller，the end-effector positioning accuracy of the manipulator by applying the presented method is up to millimeter-scale in linear and 1 degree in angular. |
| first_indexed | 2024-03-13T09:16:43Z |
| format | Article |
| id | doaj.art-f31e831267ad43f690d2d1767a876190 |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2025-02-17T02:48:45Z |
| publishDate | 2019-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-f31e831267ad43f690d2d1767a8761902025-01-10T14:45:48ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-01-01545931611841Research of Inverse Kinematics Algorithm of 6 DOF Manipulator based on Geometry with Arm Adjacent Three Joints Axes ParallelWang YangWang BenMai XiaomingA solving method for the inverse-kinematics （IK） problem of a kind of 6 degree of freedom （DOF） manipulator with the axes of the 3 adjacent rotational joints in the arm part，shoulder，elbow and wrist parallel is presented. The merit of this method is that，by utilizing the geometrical relation between the end-effector，hand and wrist of the manipulator determined by its structure，the position of the wrist corresponding to a desired end-effector orientation and position can be solved at the first step in the whole calculation process. And then，the solution of a 6-variable equations，which describes the relationship between the 6 joint positions of the manipulator and its end-effector orientation and position is reduced into two 3-variable equations，one of which describes the relationship between the wrist position and the positions of 3 joints distributed in the shoulder and elbow，and the other describes the relationship between the end-effector orientation and the positions of the rest 3 joint distributed in the wrist. This method reduces the complexity of solving the IK problem of a 6 DOF manipulator. The experiment results with an UR3 manipulator shows that，the method is able to compute the joints positions，in comparison with by applying the algorithm of the UR3 controller，the end-effector positioning accuracy of the manipulator by applying the presented method is up to millimeter-scale in linear and 1 degree in angular.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.11.009Inverse-kinematics |
| spellingShingle | Wang Yang Wang Ben Mai Xiaoming Research of Inverse Kinematics Algorithm of 6 DOF Manipulator based on Geometry with Arm Adjacent Three Joints Axes Parallel Jixie chuandong Inverse-kinematics |
| title | Research of Inverse Kinematics Algorithm of 6 DOF Manipulator based on Geometry with Arm Adjacent Three Joints Axes Parallel |
| title_full | Research of Inverse Kinematics Algorithm of 6 DOF Manipulator based on Geometry with Arm Adjacent Three Joints Axes Parallel |
| title_fullStr | Research of Inverse Kinematics Algorithm of 6 DOF Manipulator based on Geometry with Arm Adjacent Three Joints Axes Parallel |
| title_full_unstemmed | Research of Inverse Kinematics Algorithm of 6 DOF Manipulator based on Geometry with Arm Adjacent Three Joints Axes Parallel |
| title_short | Research of Inverse Kinematics Algorithm of 6 DOF Manipulator based on Geometry with Arm Adjacent Three Joints Axes Parallel |
| title_sort | research of inverse kinematics algorithm of 6 dof manipulator based on geometry with arm adjacent three joints axes parallel |
| topic | Inverse-kinematics |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.11.009 |
| work_keys_str_mv | AT wangyang researchofinversekinematicsalgorithmof6dofmanipulatorbasedongeometrywitharmadjacentthreejointsaxesparallel AT wangben researchofinversekinematicsalgorithmof6dofmanipulatorbasedongeometrywitharmadjacentthreejointsaxesparallel AT maixiaoming researchofinversekinematicsalgorithmof6dofmanipulatorbasedongeometrywitharmadjacentthreejointsaxesparallel |