A Fully Geometric Approach for Inverse Kinematics of a Six-Degree-of-Freedom Robot Arm

Abstract

Abstract This paper presents an analytical solution to inverse kinematics problem of a 6-DOF robot arm based on geometric method. The solution only utilizes relations between vectors in frames attached in the robot arm. Experiments with the solution are conducted to test the approach and results show that the correctness and accuracy of the solution are verified.