Inverse Kinematics Algorithm for a Six-Link Manipulator Using a Polynomial Expression

Abstract

This report is concerned with the forward and inverse kinematics problem relevant to a six-link robot manipulator. In order to derive the kinematic relationships between links, the vector rotation operator was applied instead of the conventional homogeneous transformation.The exact algorithm for solving the inverse problem was obtained by transforming kinematics equations into a polynomial. As shown in test calculations, the accuracies of numerical solutions obtained by means of the present approach are found to be quite high. The algorithm proposed permits to find out all feasible solutions for the given inverse problem.