Inverse Kinematics for 6-DOF Manipulator by the Method of Sequential Retrieval
- 10.2991/mems.2012.157How to use a DOI?
- Inverse Kinematics; 6-DOF Manipulator; Method of Sequential Retrieval; Numerical Solution; Modification Weight
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.
- © 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/).
Cite this article
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 -