Title :
A complete solution to the inverse kinematics problem for 4-DOF manipulator robot
Author :
Yang Si ; Qingxuan Jia ; Gang Chen ; Hanxu Sun
Author_Institution :
Sch. of Autom., Beijing Univ. of Posts & Telecommun., Beijing, China
Abstract :
A complete closed-form solution to the inverse kinematics problem for a 4-DOF manipulator robot is proposed. With the discussion of the existence of the offset and the distance between the axis of 1st joint and 2nd joint, all the possible solutions and singular configurations are presented. “Task attitude” is defined to describe the orientation of the end effector, which is convenient to solve the inverse kinematics problems in engineering. Finally, simulation of path-planning is performed, and the efficiency of the proposed method is verified through Mathematica.
Keywords :
end effectors; inverse problems; manipulator kinematics; path planning; 4-DOF manipulator robots; Mathematica; end effector; inverse kinematics; path planning; task attitude; Closed-form solutions; Joints; Kinematics; Manipulators; Robot kinematics; Service robots; 4-DOF manipulator; inverse kinematics; path-planning; task attitude;
Conference_Titel :
Industrial Electronics and Applications (ICIEA), 2013 8th IEEE Conference on
Conference_Location :
Melbourne, VIC
Print_ISBN :
978-1-4673-6320-4
DOI :
10.1109/ICIEA.2013.6566674
