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

DOI10.14182/J.CNKI.1001-2443.2016.02.007zbMATH Open1363.70005MaRDI QIDQ2823645FDOQ2823645

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)

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zbMATH Keywords

singularityinverse kinematicsconsecutive interpolationindustry robot

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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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