Inverse Kinematics of 6-DOF Robot Manipulator via Analytic Solution with Conformal Geometric Algebra

摘要

This paper presents a new inverse kinematics algorithm of 6-DOF robot manipulator via the analytic solution with Conformal Geometric Algebra (CGA). To simplify the calculation, angles of joints 1, 5 and 6 are obtained using the analytic method. On the other hand, the remaining joint angles θ <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sub> , θ <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sub> and θ <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">4</sub> are figured out by CGA which describes the geometric relationship intuitively. The proposed method is verified and simulated in Matlab and Rviz, respectively. Experimental results show the high accuracy of proposed approach. Moreover, it can be easily integrated in the motion planning of robot manipulator.