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6r serial robot

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Exact solution of inverse kinematic problem of 6R serial manipulators using Clifford Algebra
Eriny W. Azmy
Journal:

Robotica / Volume 31 / Issue 3 / May 2013

Published online by Cambridge University Press:

09 August 2012, pp. 417-422
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In this paper, Clifford Algebra is used to model and facilitate solving the inverse kinematic problem for robots with only two consecutive parallel axes. It is shown that when a solution exists, it is usually the case that one of the angles of rotation can be arbitrarily chosen from a union of intervals. The remaining angles are then uniquely determined. Of course, there are cases when no solution exists, such as when the object is out of reach. But typically, when solutions exist, there are infinitely many sets of solutions.