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A Complete Solution for the Inverse Kinematic Problem of the General 6R Robot Manipulator
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1991
Year
Robot KinematicsRobot ControlGeneral 6REngineeringInverse Kinematic ProblemAerospace EngineeringComplete SolutionMechatronicsMechanical SystemsIndustrial RoboticsField RoboticsPolynomial Degree 16Advanced Motion ControlKinematicsRoboticsHumanoid Robot
The inverse kinematic problem of the general 6R robot manipulator is completely solved by means of a 16th degree polynomial equation in the tangent of the half-angle of a revolute joint. An algorithm is developed to compute the desired joint angles of all possible configurations of the kinematic chain for a given position of the end-effector. Examples for robots with maximal 16 different configurations show that the polynomial degree 16 is the lowest possible for the general 6R robot manipulator. Further, a numerical method for the determination of the boundaries of the workspace and its subspaces with different numbers of configurations is developed. These boundaries indicate the singular positions of the end-effector.