Development of an analytical inverse kinematics for a 5 DOF manipulator

摘要

The robot arm of a mobile robot, a so-called rover plays an important role. It must be able to perform a variety of tasks such as pressing buttons and turning switches. For this purpose, an inverse kinematics must be developed. Here, we set out to investigate the architecture of a robot arm with five degrees of freedom. It will be shown how to reduce the number of axes for creating an analytical inverse kinematics, tailored to a 6 axes robot arm. Finally, the result of the analytical inverse kinematics will be compared to a numerical inverse kinematics. To evaluate both options, the accuracy of both solution as well as the runtime will be compared.