[1]WANG Li-quan,LIU Bing-hao,WU Jian-rong,et al.Modeling and implementing the inverse kinematics ofa six revolute joint robot[J].CAAI Transactions on Intelligent Systems,2010,5(2):156-160.
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Modeling and implementing the inverse kinematics ofa six revolute joint robot

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 5 Number of periods: 2010 2 Page number: 156-160 Column: 学术论文—人工智能基础 Public date: 2010-04-25
Title:
Modeling and implementing the inverse kinematics ofa six revolute joint robot
Author(s):
WANG Li-quan1;  LIU Bing-hao2;  WU Jian-rong1;  Han jin-hua1;  LU Zheng-yu1
1.College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
Keywords:
inverse kinematics; robot; algebraic solution
CLC:
TP241
DOI:
-
Abstract:
To program a new multirobot system, inverse kinematic equations for a six revolute joint (6R) robot were developed. Their algebraic solutions were then derived. Conditions causing there to be no solution, extraneous roots, or multiple solutions for inverse kinematic equations were studied for equations used in the practical control of a system. Compared with traditional methods, this method is more suitable for a multirobot system in which working tools are frequently replaced. As only two inverse matrices were involved, the method was simple and easy. In order to verify the effectiveness of the method, it was compiled using VC+〖KG-*1/2〗+ and OpenGL software. After selecting a specific position as an example, we proved the correctness of the algorithm by comparing its results to those from geometric analysis. The research is applicable to other robot systems with similar mechanical configurations, such as MOTOMANUP6 or PUMA560. 
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