Inverse kinematic analysis of the general 6R serial manipulators based on double quaternions

In this paper, double quaternions and Dixon resultant are introduced to solve inverse kinematics analysis of the general 6R robot. First, we show that homogeneous transforms matrix in terms of double quaternions lead to double kinematics equations of 6R robots; Second, a resultant procedure was constructed via linear algebra and Dixon resultant formulation; A 16th degree univariate polynomial is yielded from the resultant matrix. Finally a numerical example is used to demonstrate the effectiveness of the solution process.