DocumentCode
623473
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
fYear
2013
fDate
19-21 June 2013
Firstpage
1880
Lastpage
1884
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics and Applications (ICIEA), 2013 8th IEEE Conference on
Conference_Location
Melbourne, VIC
Print_ISBN
978-1-4673-6320-4
Type
conf
DOI
10.1109/ICIEA.2013.6566674
Filename
6566674
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