INVERSE KINEMATIC ANALYSIS OF GENERAL 5R SERIAL ROBOT BASED ON LINEAR TRANSFORMATION

Abstract

Abstract: Based on the linear transformation theory, a general method for inverse kinematic analysis of 5R serial robot is proposed. Using this method, a polynomial equation which contains only one variable and no extraneous roots can be derived from 3 original kinematic equations, whereas the traditional method needs 4 equations. The assembly condition of 5R robot (5R loop) and its application in kinematic analysis are discussed. This assembly condition is very useful for finding 6R robot’s real configuration.

Key words: Configuration, Inverse kinematics, Linear transformation, Serial robot

CLC Number:

TH113

Hang Lubin;Jin Qiong;Yang Tingli. INVERSE KINEMATIC ANALYSIS OF GENERAL 5R SERIAL ROBOT BASED ON LINEAR TRANSFORMATION[J]. , 2001, 37(5): 22-25.

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INVERSE KINEMATIC ANALYSIS OF GENERAL 5R SERIAL ROBOT BASED ON LINEAR TRANSFORMATION

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