Abstract:The paper divides 6-DOF manipulator into two sub-structures, the position structure and posturestructure, carries on the analysis of inverse kinematics respectively-via translating arrays. Based on it, an al-gorithm is established to resolve the inverse kinematics. Compared with previously iterative algorithm, itneeds less iterations, and it is popular over the analytics, so it is suitable in Robot Simulation System.
[1] Takano M. Development of computer simulation system of kinematics and dynamics of robot. I Fac Eng Univ. of Tokyo (B),1982.36: 677-711.
[2] Milenkovic V. Kinematics of major robot linkage. Proc 13th ISIR.1983:16-31.
[3] Gaglio S. Computation of inverse kinematics and inverse dynamics in manipulator arm control. Ptoc 11th ISIR. 1981:553-560.
[4] Paul R P. Robot manipulators. Cambridge. MIT Preaa, 1981.
[5] Tsai Y C. Workspace synthesis of 3R. 4R. 5R and 6R robots. Mechanism and Machine Theory, 1985, 20:555-563.