Inverse Kinematics of Serial-Chain Manipulators

摘要: This paper proposes a unified method for the complete solution of inverse kinematics problem serial-chain manipulators. reduces any 6 degree-of-freedom manipulator to single univariate polynomial minimum degree from fewest possible closure equations. It is shown that polynomials 16th 6R, 5R-P and 4R-C manipulators with general geometry can be derived 14, 10 equations, respectively, while 8th 4th all 4R-2P, 3R-P-C, 2R-2C, 3R-E 3R-S only 2 All remaining joint variables follow linear equations once roots are found. works equally well special geometry. The minimal properties may provide basis deeper understanding geometry, at same time, facilitate determination configurations respect given end-effector position, workspace its subspaces different number configurations, identification singularity positions end-effector. also clarifies relationship between three known solutions 6R as originating set 14 by first author.