Inverse Kinematics of Some General 6R/P Manipulators
Robotics
2019-06-20 v1 Computational Geometry
Abstract
We develop an algorithm that solves the inverse kinematics of general serial 2RP3R, 2R2P2R, 3RP2R and 6R manipulators based on the HuPf algorithm. We identify the workspaces of the 3-subchains of the manipulator with a quasi-projective variety in via dual quaternions. This allows us to compute linear forms that describe linear spaces containing the workspaces of these 3-subchains. We present numerical examples that illustrate the algorithm and show the real solutions.
Keywords
Cite
@article{arxiv.1906.07813,
title = {Inverse Kinematics of Some General 6R/P Manipulators},
author = {Jose Capco and Manuel Joseph C. Loquias and Saraleen Mae M. Manongsong and Fidel R. Nemenzo},
journal= {arXiv preprint arXiv:1906.07813},
year = {2019}
}
Comments
11 pages, 9 figures