A General Inverse Kinematic Analysis of 6-Dof Articulated Manipulators

Xiao Ping Yang; Ke Zhou; Zao Ni

doi:10.4028/www.scientific.net/AMM.532.275

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 532A General Inverse Kinematic Analysis of 6-Dof...

A General Inverse Kinematic Analysis of 6-Dof Articulated Manipulators

Abstract:

This paper summarized the basic structure of industry articulated 6-dof manipulators, general DH parameters were obtained by the DH modeling method and the general analytical solution methods was derived. For different structural forms and different coordinate systems establishing method, this solution can give consistent results, and the industrial manipulator inverse kinematic analysis method was simplified.

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Periodical:

Applied Mechanics and Materials (Volume 532)

Pages:

275-279

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.532.275

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Online since:

February 2014

Authors:

Xiao Ping Yang, Ke Zhou, Zao Ni

Keywords:

6-DOF Manipulator, Articulated Manipulator, Inversekinematic

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