POE-Based Inverse Kinematics Analysis for a Six-DOF Robotic Manipulator

摘要

The inverse kinematics analysis is an important basis for the trajectory planning and real-time control of a manipulator. In this paper, the inverse kinematics of 6-DOF manipulator is analyzed based on the exponential product method. Firstly, the configuration of the manipulator is introduced and the correlated parameters are discussed. The mapping relationship between the posture of end-effector and the parameters of joints is established by using the exponential product formula. Then the process of achieving inverse kinematics solutions is developed based on the Paden-Kahan sub-problems. The developed process avoids establishing the local coordinate systems of each link and the complex spatial geometric analysis that the D-H method involves. Finally, the efficacy of the inverse solution is further verified by two cases.