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| THE ITERATIVE-ANALYTICAL MIXED METHED METHOD AND SOLVING SOFTWARE ON INVERSE KINEMATICS FOR GENERAL MANIPULATORS |
| CHEN Guoreng, FU Xiangzhi, LIAO Daoxun |
| Huazhong University of Science and Technology, Wuhan 430074 |
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Abstract This paper discussed the existence of closed-form solution and solving approach on inverse kine- matics for manipulators with 4,5 and 6DOF, First,sufficient conditions on existence and general calculatingsteps of closed-form solution are addressed by discussing on kinematic parameters a_i and d_i and a_i On thisbase,a new approach,the Iterative-Analytical Mixed Method(IAMM),is presented.This method is easy togive out all possible solution. According to these theory and methods,a general C-language program is devel-oped to solve inverse kinematic problems. At the end of this paper. two illustrating examples are given out.
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Received: 12 July 1993
Published: 15 November 1994
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