An Analysis of the Inverse Kinematics for a 5-DOF Manipulator

查看全文 作　　者：Carlos A. Acosta [1]Calderon;John Q. [1]Gan

机构地区：[1]Department of Computer Science, University of Essex, Colchester CO4 3SQ, UK

出　　处：《International Journal of Automation and computing》索引2005年第2卷第2期,共11页

基　　金：This work was supported by the National High Technology Research and Development Program of China (No. 2002AA422160)the National Key Fundamental Research and Development Project of China (973, No.2002CB312200) 摘　　要：This paper proposes an analytical solution for a 5-DOF manipulator to follow a given trajectory while keeping the orientation of one axis in the end-effector frame. The forward kinematics and inverse kinematics for a 5-DOF manipulator are analyzed systemically. The singular problem is discussed after the forward kinematics is provided. For any given reachable position and orientation of the end-effector, the derived inverse kinematics will provide an accurate solution. In other words, there exists no singular problem for the 5-DOF manipulator, which has wide application areas such as welding, spraying, and painting. Experiment results verify the effectiveness of the methods developed in this paper. 关键词：INVERSE KINEMATICS MODELING and CONTROL 5-DOF manipulator.

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An Analysis of the Inverse Kinematics for a 5-DOF Manipulator

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