POE-Based Inverse Kinematics Analysis for a Six-DOF Robotic Manipulator
- Resource Type
- Conference
- Authors
- Ning, Yinghao; Hu, Rongfang; Chen, Yanwei; Chen, Xuli; Ren, Shiyong; Li, Bing
- Source
- 2022 7th International Conference on Automation, Control and Robotics Engineering (CACRE) Automation, Control and Robotics Engineering (CACRE), 2022 7th International Conference on. :71-75 Jul, 2022
- Subject
- Computing and Processing
Robotics and Control Systems
Signal Processing and Analysis
Automation
Trajectory planning
Robot kinematics
Kinematics
End effectors
Real-time systems
Kinematics analysis
inverse solution
product of exponential
Paden-Kahan sub-problem
- Language
The inverse kinematics analysis is an important basis for the trajectory planning and real-time control of a manipulator. In this paper, the inverse kinematics of 6-DOF manipulator is analyzed based on the exponential product method. Firstly, the configuration of the manipulator is introduced and the correlated parameters are discussed. The mapping relationship between the posture of end-effector and the parameters of joints is established by using the exponential product formula. Then the process of achieving inverse kinematics solutions is developed based on the Paden-Kahan sub-problems. The developed process avoids establishing the local coordinate systems of each link and the complex spatial geometric analysis that the D-H method involves. Finally, the efficacy of the inverse solution is further verified by two cases.