An Efficient Inverse Kinematic Algorithm for a PUMA560-Structured Robot Manipulator

International Journal of Advanced Robotic Systems

关键词: Inverse Kinematics;    PUMA560;    Robot Manipulator;   

DOI  :  10.5772/56403

学科分类：自动化工程

来源: InTech

【 摘 要 】

Abstract This paper presents an efficient inverse kinematics (IK) approach which features fast computing performance for a PUMA560-structured robot manipulator. By properties of the orthogonal matrix and block matrix, the complex IK matrix equations are transformed into eight pure algebraic equations that contain the six unknown joint angle variables, which makes the solving compact without computing the reverses of the 4×4 homogeneous transformation matrices. Moreover, the appropriate combination of related equations ensures that the solutions are free of extraneous roots in the solving process, and the wrist singularity problem of the robot is also addressed. Finally, a case study is given to show the effectiveness of the proposed algorithm.

【 授权许可】

CC BY