A Number Of Issues For Inverse Kinematics Of 6 DOF Serial Manipulator

Faced too many types of serial spatial robot mechanical, a universal method to solve inverse kinematics analysis about them attracted many researchers of the kinematics community and become their research goal. In this paper we refer to traditional solutions of the inverse kinematics of a serial mechanisms, dual quaternions is introduced firstly to inverse kinematics analysis of 6 DOF serial manipulator and try to develop a new universal algorithm for inverse solution of all kinds of 6 DOF serial manipulator based on dual quaternions and some valuable results are obtained, we introduce the mathematical and geometrical tools, we recall the notations about dual quaternions and discuss the method of Dixon elimination that we used in this paper. The kinematics equations of serial robot are constructed in terms of dual quaternions.This method is applied to solve the inverse kinematics analysis of thespecial-dimension which is regarded as general 6R robots via adjustingsome dimensions a little under the precision permitted.