Method of Solving the Inverse Kinematics of a Manipulator ARM

摘要

This paper deals with a new approach to solve the inverse kinematic equations for a six-joint manipulator. As the mathematical methodology, the kinematic relationships are transformed into a high order polynomial of a joint angle variable at the end-point of the manipulator. Using this algorithm proposed, the test calculations were performed to reproduce the individual joint angles. The accuracies of the solutions were quite satisfactory. (Atomindex citation 17:074289)