A Study On Some Issues For Inverse Kinematics Of 6 DOF Serial Manipulator

The inverse kinematics of 6 DOF manipulator is one of the main concerns and difficult problem in robotics. On the one hand, the input-output equation derived from inverse kinematics algorithm has high value on theoretic research, many mechanism kinematics can be studied based on it. On the other hand, the inverse kinematics is a central problem for motion planning and path control. Nowadays, many algorithm of good accuracy and speediness are proposed. There are also many algorithm of the inverse kinematics of Low-DOF-manipulator. But these all can't be applied to a general 6R serial manipulator with malfunctioning joint well, and can't make it to accomplish its task programmed. The dissertation presents a research on inverse kinematics of 6 DOF robot. A new methods is proposed. And it is applied to practical problem. The main contents can be summarized as follows:1. A general 6 DOF serial manipulator with malfunctioning joint is called 5 DOF serial manipulator or low DOF serial manipulator. If the object to grasp is stick or clava, manipulator's paw's a posture angles, which rotate the object's central line, usually is unrestricted. Thus regard one posture angle as a unkouwn rotation joint and turn the inverse kinematics of 5 DOF manipulator to an equation group contained 6 unknowns. The structure parameter has changed and the malfunctioning joint is unknown hence the inverse kinematica program should be satisfied to the uncertainty. Once the kinematics equations is set up, the solution process is similar to general 6 DOF serial manipulator.2. This paper regard one posture angle as a unkouwn rotation joint and applied this solution to the inverse kinematics of general 6R serial manipulator, a 1P5R serial manipulator and a dual-joint 6R manioulator...