AN EFFICIENT ALGORITHM FOR INVERSE KINEMATICS OF ROBOTS WITH NON-SPHERICAL WRIST

Qiankun Yu, Guolei Wang, Tianyu Ren, Liao Wu, and Ken Chen

References

  1. [1] D.L. Pieper, The kinematics of manipulators under computer control, Doctoral Dissertation, Stanford University, CA, 1968.
  2. [2] J. Duffy, Analysis of mechanisms and robot manipulators, 1st ed. (London: Edward Arnold, 1980).
  3. [3] M. Raghavan and B. Roth, Kinematic analysis of the 6R manipulator of general geometry, Proc. 5th Int. Symp. Robot. Res., Tokyo, 1991, 263–269.
  4. [4] M. Raghavan and B. Roth, Solving polynomial systems for the kinematic analysis and synthesis of mechanisms and robot manipulators, Transactions of ASME, x 117(Spec. 50th Anniversary Design Issue), 1995, 71–79.
  5. [5] S. Sasaki, Feasibility studies of kinematic problems in the case of a class of redundant manipulators, Robotica, 13, 1995, 233–241.
  6. [6] R.P. Paul and C.N. Stevenson, Kinematics of robot wrists, International Journal of Robotics Research, 2(1), 1983, 31–38.
  7. [7] O. Khatib, A unified approach for motion and force control of robot manipulators: The operational space formulation, IEEE Journal of Robotics and Automation, 3(1), 1987, 43–53.
  8. [8] W.A. Wolovich and H. Elliott, A computational technique for inverse kinematics, Proc. 23rd IEEE Conf. on Decision and Control, Las Vegas, 1984, 1359–1363.
  9. [9] J.E. Dennis, Jr. &and R.B. Schnabel, Numerical methods for unconstrained optimization and nonlinear equations, Society for Industrial and Applied Mathematics, 1993, 86–107.
  10. [10] K. Levenberg, A method for the solution of certain nonlinear problems in least squares, Quarterly of Applied Mathematics, 2, 1944, 164–166.
  11. [11] D.W. Marquardt, An algorithm for least-squares estimation of nonlinear inequalities, SIAM Journal of Applied Mathematics, 11, 1963, 431–441.
  12. [12] M. Raghavan and B. Roth, Inverse kinematics of the general 6R manipulator and related linkages, Journal of Mechanical Design, 115(3), 1993, 502–508.
  13. [13] M. Ghazvini, Reducing the inverse kinematics of manipulators to the solution of a generalized eigenproblem, Computational Kinematics, 28, 1993, 15–26.
  14. [14] M.L. Husty, M. Pfurner, and H. Schrocker, A new and efficient algorithm for the inverse kinematics of a general serial 6R manipulator, Mechanism and Machine Theory, 42(1), 2007, 66–81.
  15. [15] F. Groh, K. Groh, and A. Verl, On the inverse kinematics of an a priori unknown general 6R-Robot, Robotica, 31(03), 2013, 455–463.
  16. [16] Z. Bingul, H.M. Ertunc, and C. Oysu, Comparison of inverse kinematics solutions using neural network for 6R robot manipulator with offset, IEEE Congress on Computational Intelligence Methods & Applications, Istanbul, Turkey, 2005, 15–17.
  17. [17] P. Jha, A neural network approach for inverse kinematic of a SCARA manipulator, International Journal of Robot & Automation, 3(1), 2014, 31–40.
  18. [18] R.L. Williams II, Inverse kinematics and singularities of manipulators with offset wrist, International Journal of Robotics and Automation, 14(1), 1999, 1–8.
  19. [19] H. Pan, B. Fu, L. Chen, and J. Feng, The inverse kinematics solutions of robot manipulators with offset wrist using the offset modification method, Advances in Automation and Robotics, 1, 2011, 655–663.
  20. [20] M.K. Wu, Y.S. Kung, F.C. Lee, and W.C. Chen, Inverse kinematics of robot manipulators with offset wrist, International Conference on Advanced Robotics & Intelligent Systems, Taibei, 2015, 1–6.
  21. [21] M.Z. Al-Faiz and M.S. Saleh, Inverse kinematics analysis for manipulator robot with wrist offset based on the closed-form algorithm, International Journal of Robot & Automation, 2(4), 2011, 256–264.
  22. [22] L. Wu, X. Yang, D. Miao, Y. Xie, and K. Chen, Inverse kinematics of a class of 7R 6-DOF robots with non-spherical wrist, IEEE Int. Conf. on Mechatronics & Automation, Takamatsu, 27(16), 2013, 69–74.
  23. [23] O. Khatib, A unified approach for motion and force control of robot manipulators: The operational space formulation, International Journal of Robot & Automation, 3(1), 1987, 43–53.
  24. [24] T. Bajd, M. Mihelj, J. Lenarˇciˇc, A. Stanovnik, and M. Munih, Robotics, 1st ed. (London: Springer, 2010).
  25. [25] T. Sugihara, Solvability-unconcerned inverse kinematics by the Levenberg–Marquardt method, IEEE Transactions on Robotics, 27(5), 2011, 984–991.
  26. [26] S. Kucuk and Z. Bingul, The inverse kinematics solutions of industrial robot manipulators, IEEE Int. Conf. on Mechatronics, Istanbul, 2004, 274–279.
  27. [27] P. Corke, Robotics, vision and control, 1st ed. (Berlin: Springer, 2011).

Important Links:

Go Back