Solution for inverse kinematics and research for the singularity of the 6R robot

DOI10.14182/J.CNKI.1001-2443.2016.02.007MaRDI QIDQ2823645zbMATH OpenFDO

Authors He Liu, Hui Zeng, Xun Li, Jun Wan, Lei Liu

Publication date 6 October 2016

Published in Journal of Anhui Normal University. Natural Science (Search for Journal in Brave)

zbMATH Keywords

singularityinverse kinematicsconsecutive interpolationindustry robot

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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Cited in

(7)

• A practical symbolic algorithm for the inverse kinematics of 6R manipulators with simple geometry
• Inverse kinematics of a 7R 6-DOF robot with nonspherical wrist based on transformation into the 6R robot
• Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control
• An analytical approach based on Dixon resultant for the inverse kinematics of 6R robot manipulators with offset wrists
• Research on real-time inverse kinematics algorithms for 6R robots
• Families of 6R orthogonal robotic manipulators with only isolated and pseudo-isolated singular\-i\-ties
• Closed form solutions for inverse kinematics approximation of general 6R manipulators.

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