Inverse kinematic solution to a calibrated Puma 560 industrial robot

Geometric Approach to Solving the Inverse Displacement Problem of Calibrated Decoupled 6r Serial Robots

“…Solving the inverse kinematics of a decoupled 6R serial robot is relatively straightforward, and is generally achieved using analytical methods [1,2] (closed-form solution). However, solving the inverse displacement problem (IDP) of such a robot when calibrated with a so-called level-2 model (only geometric errors considered) or, even worse, a level-3 model (where non-geometric errors are also considered), is much more complicated, and requires numerical methods [3][4][5][6].…”

“…Numerical methods can be divided into three types [5]: (1) Newton-Raphson methods, (2) predictorcorrector type algorithms, and (3) optimization techniques using the formulation of a scalar cost function. Examples of the first type can be found in [14], where a modified Newton-Gauss method is used.…”

Direct and inverse kinematics of a new class of serial-parallel hybrid manipulator

“…The DH-parameters -a$ and -ah are substituted into the set of equations in Equation (4.7) for a\ and al\ respectively. The Study parameters of the A, found using Equation ( 32 and the last factor is of degree 48. These factors can be solved for several numeric values of x 3 , but by inspecting the results it has been found that only one result also satisfies the remaining two equations L5 and i?5.…”

“…Such manipulators are commonly used for industrial applications and have therefore been the focus of study for many researchers. Some examples of applying inverse kinematics methods to industrial 6R-manipulators include Chen and Parker[32] who use a numerical approach to the inverse kinematics to aid in the calibration of a PUMA 560 industrial 6R robotic manipulator; Lloyd and Hayward[33] use symbolic algebra to set up solutions for special configurations of 6R industrial robots; Manseur and Doty[34] present algorithms to improve the efficiency of the solution to the inverse kinematics problem for industrial applications of 6R-manipulators; Pashkevich[35] implements an algorithm for the inverse kinematics of industrial manipulators with offset wrists; and Chapelle and Bidaud[36] use analytical methods on kinematic models of PUMA 560 and GMF Arc Mate industrial 6R-manipulators.…”

Algebraic screw pairs

“…Such manipulators are commonly used for industrial applications and have therefore been the fo cus of study for many researchers. Some examples of applying inverse kinematics methods to industrial 6R-manipulators include Chen and Parker [36] who use a numerical approach to the inverse kinematics to aid in the calibration of a PUMA 560 industrial 6R robotic manipulator; Lloyd and Hayward [37] use symbolic algebra to set up solutions for spe cial configurations of 6R industrial robots; Manseur and Doty [38] present algorithms to improve the efficiency of the solution to the inverse kinematics problem for industrial ap plications of 6R-manipulators; Pashkevich [39] implements an algorithm for the inverse kinematics of industrial manipulators w ith offset wrists; and Chapelle and Bidaud [40] use analytical methods on kinematic models of PUMA 560 and GMF Arc M ate industrial 6R-manipulators.…”