INVERSE KINEMATICS PROBLEM OF 6-DOF MANIPULATOR

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.