Solution for One Type of Inverse Kinematics Sub-problem in Screw Theory and Its Application

In order to solve the robot inverse kinematics in screw theory,the motion equation is usually divided into several sub-problems.At present,the combination of ordinary sub-problem can't achieve the inverse kinematics of all type of robots.A new type of sub-problem is proposed in this paper,and its solution and constraint conditions are given.In addition,its application in parallel robots with RTS chain is demonstrated to verify its feasibility.Finally,a method using the combination of the motion screws with the same effect on the reference point is obtained to simplify robot inverse kinematics.