Inverse Kinematics for 6-DOF Manipulator by the Method of Sequential Retrieval

DOI

10.2991/mems.2012.157How to use a DOI?

Keywords

Inverse Kinematics; 6-DOF Manipulator; Method of Sequential Retrieval; Numerical Solution; Modification Weight

Abstract

Analitical solution of the inverse kinematics has been found only for some particular structures of 6-DOF serial manipulator. We propose the Method of Sequential Retrieval by modifying the Effective Solution for Inverse Kinematics to solve the inverse kinematics for a 6-DOF robot arm which has not been analytically solved yet. We confirmed that our method can find some solutions which can not be solved by the Effective Solution for Inverse Kinematics. Moreover, we presented the effectiveness of our method by numerical analysis.

Copyright

© 2012, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Nie Liqing
AU  - Huang Qingjiu
PY  - 2012/12
DA  - 2012/12
TI  - Inverse Kinematics for 6-DOF Manipulator by the Method of Sequential Retrieval
BT  - Proceedings of the 1st International Conference on Mechanical Engineering and Material Science (MEMS 2012)
PB  - Atlantis Press
SP  - 600
EP  - 603
SN  - 1951-6851
UR  - https://doi.org/10.2991/mems.2012.157
DO  - 10.2991/mems.2012.157
ID  - Liqing2012/12
ER  -