Solution of Inverse Kinematics of a 6R Serial Robot

Xi Guang Huang; Lei Lei Li; Duan Ling Li

doi:10.4028/www.scientific.net/AMM.347-350.7

Paper Titles

Preface

Research on a Fuzzy Choice Function in Multi-Objective Fuzzy Decision
p.3

Solution of Inverse Kinematics of a 6R Serial Robot
p.7

Simulation on Networked Munitions System Control with Time Delay
p.11

Parameters Recursive Identification of Minimum Variance Control
p.15

Researches of Pressure Measurement Method in Vacuum Environment
p.19

One Kind of Data Acquisition System Used in PC104 Embedded Navigation Computer
p.24

A Signal Acquisition and Failure Alarm System of Combine Harvester Based on Touch Screen Technology
p.28

Research of the Liquid Level Detection System for Integral Stereolithography System
p.32

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 347-350Solution of Inverse Kinematics of a 6R Serial...

Solution of Inverse Kinematics of a 6R Serial Robot

Abstract:

A new algorithm for the inverse kinematics of a kind of 6R serial robot was introduced. Firstly, the positions of all the joint points are determined with the help of the basic geometric entities, such as sphere, circle, line, plane and so on. Then, the angles of each joint are computed by the inner product between line and line or plane and plane. The proposed algorithm gives a new geometrically intuitive approach for solving the inverse kinematics of the robot.

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Periodical:

Applied Mechanics and Materials (Volumes 347-350)

Pages:

7-10

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.347-350.7

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Cite this paper

Online since:

August 2013

Authors:

Xi Guang Huang, Lei Lei Li, Duan Ling Li

Keywords:

Algorithm (GA), Inverse Kinematics, Serial Robot

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