Inverse Kinematics Solution for a 6R Special Configuration Manipulators Based on Screw Theory

Abstract:

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Three basic sub-problems of screw theory are acceptable for some particular configuration manipulators’ inverse kinematics, which can not solve the inverse kinematics of all configuration manipulators. This paper introduces two extra extended sub-problems, through which all inverse kinematic solutions for 6-R manipulators having closed-form inverse kinematics can be gained. The inverse kinematic solution for a new particular configuration manipulator is presented.

Info:

Periodical:

Edited by:

Yuhang Yang, Xilong Qu, Yiping Luo and Aimin Yang

Pages:

250-253

DOI:

10.4028/www.scientific.net/AMR.216.250

Citation:

Y. S. Tan et al., "Inverse Kinematics Solution for a 6R Special Configuration Manipulators Based on Screw Theory", Advanced Materials Research, Vol. 216, pp. 250-253, 2011

Online since:

March 2011

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Price:

$35.00

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