Yang Tingli

Inverse Kinematics Analysis of General 6R Serial Robot Mechanism Based on Groebner Base

This study presents a solution for the inverse kinematics problem in serial 6R manipulator. Using only seven equations—composed of Duffy’s four kinematical equations containing three angles and three corresponding angles’ identical equations—instead of the traditional 14 equations, the authors reduced the inverse kinematics problem in the general 6R manipulator to a univariate polynomial with a minimum degree based on the Groebner Base method. From that, they concluded that the maximum number of the solutions is 16, generally. Also, the mathematics mechanization method can be extended to solve other mechanism problems involving nonlinear equations symbolically.

Inverse kinematic analysis of general 5R serial robot based on Sylvester linear transformation

Based on the Sylvester linear transformation theory, a general method for inverse kinematic analysis of 5R serial robot is proposed in this paper. Using this method, a polynomial equation which contains only one variable and no extraneous roots can be derived from 3 original kinematic equations, whereas the traditional method needs 4 equations. The assembly condition of 5R manipulator (5R loop) and its application in kinematic analysis are discussed. This assembly condition is very useful for finding 6R manipulators real configuration.