Inverse kinematic solution of 6R robot manipulators based on screw theory and the Paden–Kahan subproblem

International Journal of Advanced Robotic Systems

RongboZhao¹ 

关键词: Screw theory;    POE formula;    inverse kinematics;    Paden–Kahan subproblem;    model singularity;   

DOI  :  10.1177/1729881418818297

学科分类：自动化工程

来源: InTech

【 摘 要 】

The traditional Denavit–Hatenberg method is a relatively mature method for modeling the kinematics of robots. However, it has an obvious drawback, in that the parameters of the Denavit–Hatenberg model are discontinuous, resulting in singularity when the adjacent joint axes are parallel or close to parallel. As a result, this model is not suitable for kinematic calibration. In this article, to avoid the problem of singularity, the product of exponentials method based on screw theory is employed for kinematics modeling. In addition, the inverse kinematics of the 6R robot manipulator is solved by adopting analytical, geometric, and algebraic methods combined with the Paden–Kahan subproblem as well as matrix theory. Moreover, the kinematic parameters of the Denavit–Hatenberg and the product of exponentials-based models are analyzed, and the singularity of the two models is illustrated. Finally, eight solutions of inverse kinematics are obtained, and the correctness and high level of accuracy of the algorithm proposed in this article are verified. This algorithm provides a reference for the inverse kinematics of robots with three adjacent parallel joints.

【 授权许可】

CC BY