Inverse Kinematics Solution for a 6R Special Configuration Manipulators Based on Screw Theory
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.
Yuhang Yang, Xilong Qu, Yiping Luo and Aimin Yang
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