Closed form inverse kinematics solution for 6-DOF underwater manipulator

Khan, Asghar; Cheng, Xiaonong; Zhang, Xingxing; Quan, Wang Li

doi:10.1109/fpm.2015.7337296

Cited by 1 publication

(1 citation statement)

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“…Recently, the use of serial robots has increased owing to their extensive application in the field of bionics and in various industries [1][2][3][4][5]. Overcoming the usual problems in inverse kinematics is a key to controlling the motion of serial robots.…”

Section: Introductionmentioning

confidence: 99%

Existence Conditions and General Solutions of Closed-form Inverse Kinematics for Revolute Serial Robots

Shanda

Luo

et al. 2019

Applied Sciences

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This study proposes a method for judging the existence of closed-form inverse kinematics solutions based on the Denavit–Hartenberg (DH) model. In this method, serial robots with closed-form solutions are described using three types of sub-problems from the viewpoint of solving algebraic equations. If a serial robot can be described using these three types of sub-problems, i.e., if the inverse kinematics problems can be solved by several basic problems, then there is a closed-form solution. Based on the above method, we design a set of universal closed-form inverse kinematics solving algorithms. Since there is a definite formula solution for the three types of sub-problems, the joint angles can be rapidly determined. In addition, because the DH parameters can directly reflect the linkage of the robot, the judgment of the sub-problems is also quick and accurate. More importantly, the algorithm can be applied to serial robots with low degrees of freedom. This enables the algorithm to not only quickly and accurately solve inverse kinematics problems but also to exhibit high universality. This proposed theory improves the existence conditions for closed-form reverse solutions and further promotes the development of motion control techniques for serial robots.

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