Inverse Kinematics Analysis of 5-DOF Robot Manipulators Based on Virtual Joint Method
2011 ◽
Vol 143-144
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pp. 265-268
Keyword(s):
To solve the inverse kinematics problem of a robot manipulator without closed form solutions, one-dimensional iterative method is very useful. However, for a 5-DOF robot manipulator, because of the uncontrolable and uncertain orientation vectors, it's difficult to analytically express all joint variables by one of them, therefore one-dimensional iterative method can not be directedly used. By adding an appropriate virtual joint to it, a 5-DOF manipulator can be changed into a 6-DOF one so that the uncertain orientation vectors can be pre-given, and the difficulty is solved. To illustrate this virtual joint method a 5-DOF serial robot manipulator with prismatic arm joint and offset wrist is discussed in this paper as an example.
Keyword(s):
1985 ◽
Vol 107
(2)
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pp. 201-208
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2010 ◽
Vol 29-32
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pp. 952-955
2015 ◽
Vol 9
(6)
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pp. 765-774
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2019 ◽
Vol 65
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pp. 457-486
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Keyword(s):
2006 ◽
Vol 37
(7)
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pp. 432-438
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Keyword(s):
1986 ◽
Vol 5
(4)
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pp. 69-88
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