A COMPLETE SOLUTION FOR THE INVERSE KINEMATIC PROBLEM OF THE GENERAL 6R ROBOT MANIPULATOR

被引：23

作者：

LEE, HY

WOERNLE, C

HILLER, M

机构：

[1] Department of Mechanical Engineering, Beijing University of Posts and Telecommunications, Beijing

[2] Institute A of Mechanics, University of Stuttgart, Stuttgart, 7000, Pfaffenwaldring 9

[3] Department of Mechanics, University of Duisburg, Duisburg, 4100

[4] University of Stuttgart, Institute A of Mechanics

来源：

JOURNAL OF MECHANICAL DESIGN | 1991年 / 113卷 / 04期

关键词：

D O I：

10.1115/1.2912808

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

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.

引用

页码：481 / 486

页数：6

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