Efficient inverse kinematics for general 6R manipulators

Journal Article · Sat Oct 01 00:00:00 EDT 1994 · IEEE Transactions on Robotics and Automation (Institute of Electrical and Electronics Engineers); (United States)

DOI:https://doi.org/10.1109/70.326569· OSTI ID:6889299

Manocha, D ^[1]; Canny, J ^[2]

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1. Univ. of North Carolina, Chapel Hill, NC (United States). Dept. of Computer Science
2. Univ. of California, Berkeley, CA (United States). Computer Science Division

The inverse kinematics of serial manipulators is a central problem in the automatic control of robot manipulators. The main interest has been in inverse kinematics of a six revolute (6R) jointed manipulator with arbitrary geometry. It has been recently shown that the joints of a general 6R manipulator can orient themselves in 16 different configurations (at most), for a given pose of the end-effector. However, there are no good practical solutions available that give a level of performance expected of industrial manipulators. In this paper, the authors present an algorithm and implementation for efficient inverse kinematic for a general 6R manipulator. When state mathematically, the problem reduces to solving a system of multivariate equations. The authors make use of the algebraic properties of the system and the symbolic formulation used for reducing the problem to solving a univariate polynomial. However, the polynomial is expressed as a matrix determinant and its roots are computed by reducing to an eigenvalue probe. The other roots of the multivariate system are obtained by computing eigenvectors and substitution. The algorithm involves symbolic preprocessing, matrix computations and a variety of other numerical techniques. The average running time of the algorithm, for most cases, is 11 milliseconds on an IBM RS/6000 workstation. This approach is applicable to inverse kinematics of all serial manipulators.

• OSTI ID: 6889299
• Journal Information: IEEE Transactions on Robotics and Automation (Institute of Electrical and Electronics Engineers); (United States), Journal Name: IEEE Transactions on Robotics and Automation (Institute of Electrical and Electronics Engineers); (United States) Vol. 10:5; ISSN 1042-296X; ISSN IRAUEZ
• Country of Publication: United States
• Language: English

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