Inverse Kinematics of an Anthropomorphic 6R Robot Manipulator Based on a Simple Geometric Approach for Embedded Systems

摘要

This manuscript presents an efficient algorithm for solving the inverse kinematics problem of a 6R robot manipulator to be deployed on embedded control hardware. The proposed method utilizes the geometric relationship between the end-effector and the base of the manipulator, resulting in a computationally efficient solution. The approach aims to minimize computational complexity and memory consumption while maintaining the accuracy and real-time performance demonstrated by simulations and verified by experimental results on an embedded system. Furthermore, the manipulator is analyzed in terms of singularities, limits, the workspace, and general solvability. Due to the simplicity of the algorithm, a platform-independent implementation is possible. As a result, the average calculation time is reduced by a factor of five to eight and the average error is decreased by a factor of fifty compared to a powerful analytical solver.