Notice of RetractionInverse kinematics and application of a type of motion chain based on screw theory and analytic geometry

Notice of Retraction

After careful and considered review of the content of this paper by a duly constituted expert committee, this paper has been found to be in violation of IEEE´s Publication Principles.

We hereby retract the content of this paper. Reasonable effort should be made to remove all past references to this paper.

The presenting author of this paper has the option to appeal this decision by contacting TPII@ieee.org.

For the RRRR motion chain, a kind of sub-problem which can be described as rotating about four not intersecting axes to a given point and adjacent axes are parallel or vertical intersecting or vertical skew is proposed. By combining analytic geometry and screw theory exponential product method, the inverse kinematics solution of the RRRR motion chain is derived, and joint axes relations of motion chain being fit for the method are presented. The multi-solutions is analyzed and the geometric meanings is explained. The method has obvious geometric meanings and the solution can be verified by with the help of drawing. Using the method 6-R manipulator inverse solution is analyzed, and feasibility of this method is validated through the instance with exact parameters.