A New Algorithm for a Spatial Serial Robot

Xi Guang Huang; Guang Pin He; Duan Ling Li

doi:10.4028/www.scientific.net/AMM.29-32.952

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 29-32A New Algorithm for a Spatial Serial Robot

A New Algorithm for a Spatial Serial Robot

Abstract:

In this paper a new algorithm to compute all the closed-form inverse kinematics solutions of a spatial serial robot. Based on the method, A 16th degree univariate polynomial of the spatial serial robot is obtained without factoring out or deriving the greatest common divisor. We also obtain all the closed-form solutions for the inverse kinematics of the robot. Finally a numerical example is given to demonstrate the algorithm process.

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Periodical:

Applied Mechanics and Materials (Volumes 29-32)

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952-955

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.29-32.952

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Online since:

August 2010

Authors:

Xi Guang Huang, Guang Pin He, Duan Ling Li

Keywords:

Closed Form Solution, Inverse Kinematic, Serial Robot

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