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RESEARCH PAPERS

A Simple Method for Inverse Kinematic Analysis of the General 6R Serial Robot

[+] Author and Article Information
Shi Zhi Xin

 Nanchang University, Nanchang 330029, Chinashizhi_xin@tom.com

Luo Yu Feng

 Nanchang University, Nanchang 330029, Chinalyfyel@tom.com

Hang Lu Bing

 Shanghai Jiaotong University, Shanghai 200030, Chinahanglb@sjtu.edu.cn

Yang Ting Li

 Jinling Petrochemical Corporation, Nanjing 210037, Chinayangtingli@jlpec.com

J. Mech. Des 129(8), 793-798 (Aug 18, 2006) (6 pages) doi:10.1115/1.2735636 History: Received January 23, 2006; Revised August 18, 2006

The inverse kinematic analysis of the general 6R serial robot has been a very significant and important problem in the theory of the spatial mechanisms. Because the solution to inverse kinematics problem of the general 5R serial robot is unique and its assembly condition has been derived, a simple effective method for inverse kinematics problem of general 6R serial robot or forward kinematics problem of general 7R single-loop mechanism is presented based on a one-dimension searching algorithm. All the real solutions to inverse kinematics problems of the general 6R serial robot or forward kinematics problems of the general 7R single-loop mechanism can be obtained. The new method has the following features: (1) using one-dimension searching algorithm, all the real inverse kinematic solutions are obtained and it has higher computing efficiency; and (2) compared with the algebraic method, it has evidently reduced the difficulty of deducing formulas. The principle of the new method can be generalized to kinematic analysis of parallel mechanisms.

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Copyright © 2007 by American Society of Mechanical Engineers
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Figures

Grahic Jump Location
Figure 1

The general 5R serial robot

Grahic Jump Location
Figure 2

The general 6R serial robot

Grahic Jump Location
Figure 3

The general 7R single-loop mechanism

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