A Method for Solving The Inverse Kinematics Problem of 6-DOF Space Manipulator

摘要

The inverse kinematics is an important problem in the automatic control of space manipulator. We formulate the kinematics equations of 6-DOF space manipulator and study a method for solving the inverse kinematics problem in the paper, and the analytic solution of the inverse kinematics problem is also given. The method has avoided a large amount of inverse matrix multiplication, and needn't the coordinate conversion of the end-effector. We use virtual prototyping to model a 6-dof mechanical arm system of free-flying space robot (FFR) and simulate the space manipulator system, it shows the validity of the method.