554 Inverse Kinematics for 6-DOF Manipulator by the Method of Sequential Retrieval

摘要

Analitical solution of the inverse kinematics has been found only for some particular structures of 6-DOF serial manipulator. We propose the Method of Sequential Retrieval by modifying the Effective Solution for Inverse Kinematics to solve the inverse kinematics for a 6-DOF robot arm which has not been analytically solved yet. We confirmed that our method can find some solutions which can not be solved by the Effective Solution for Inverse Kinematics. Moreover, we presented the effectiveness of our method by comparing its convergence speed with that of the Newton-Raphson Method.