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Structure design and kinematics of a robot manipulator

Published online by Cambridge University Press:  09 March 2009

Kesheng Wang  and
Terje K. Lien
Kesheng Wang
Affiliation:
Production Engineering Laboratory, NTH-SINTEF, N-7034 Trondheim-NTH (Norway)
Terje K. Lien
Affiliation:
Production Engineering Laboratory, NTH-SINTEF, N-7034 Trondheim-NTH (Norway)
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Summary

In this paper we show that a robot manipulator with 6 degrees of freedom can be separated into two parts: arm with the first three joints for major positioning and wrist with the last three joints for major orienting. We propose 5 arms and 2 wrists as basic construction for commercially robot manipulators. This kind of simplification can lead to a general algorithm of inverse kinematics for the corresponding configuration of different combinations of arm and wrist. The approaches for numerical solution and closed form solution presented in this paper are very efficient and easy for calculating the inverse kinematics of robot manipulator.

Keywords

KinematicsInverseDesignArm/WristRobot
Type
Research Article
Information
Robotica , Volume 6 , Issue 4 , October 1988 , pp. 299 - 309
Copyright
Copyright © Cambridge University Press 1988

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References

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