Applications of an improved Dixon elimination method for the inverse kinematics of 6R manipulators

DOI10.1016/J.APM.2022.03.006MaRDI QIDQ2109579zbMATH OpenOpenAlexFDO

Authors Feifei Chen, Hehua Ju

Publication date 21 December 2022

Published in Applied Mathematical Modelling (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.apm.2022.03.006

zbMATH Keywords

Dixon resultantelimination methodgeneral decoupling manipulatorinverse kinematicsvector polynomial system

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Cites work

• A genetic algorithm approach to a neural-network-based inverse kinematics solution of robotic manipulators based on error minimization
• A novel inverse kinematics algorithm using the Kepler oval for continuum robots
• Algorithmic Search for Flexibility Using Resultants of Polynomial Systems
• Comparing acceleration techniques for the Dixon and Macaulay resultants
• Computer Algebra in Scientific Computing
• Constructing Sylvester-type resultant matrices using the Dixon formulation
• Differential elimination with Dixon resultants
• Geometric Fundamentals of Robotics
• Gröbner bases and systems theory
• Heuristics to sift extraneous factors in Dixon resultants
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• scientific article; zbMATH DE number 1827070 (Why is no real title available?)
• Inverse kinematic analysis of the general 6R serial manipulators based on double quaternions
• Inverse kinematics solutions for industrial robot manipulators with offset wrists
• Models for three new screw-based IK sub-problems using geometric descriptions and their applications
• Screw and Lie group theory in multibody kinematics. Motion representation and recursive kinematics of tree-topology systems
• Using Algebraic Geometry

Cited in

(5)

• Closed form solutions for inverse kinematics approximation of general 6R manipulators.
• An analytical approach based on Dixon resultant for the inverse kinematics of 6R robot manipulators with offset wrists
• Unified infinitesimal kinematics of a 3-RRR/PRR six-degree-of-freedom parallel-serial manipulator
• Vector polynomial based analytical inverse kinematics and configuration design of 6R robotic arms
• A semi-analytical method for solving inverse kinematics of 6R robotic arms with subparallel axes

Describes a project that uses

Uses Software

• TRAC-IK

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