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Inverse Kinematics Analysis for Manipulator Robot with Wrist Offset Based On the Closed-Form Algorithm
Mohammed Zeki Hussain Al-Faiz, Mohammed S.Saleh
Pages - 256 - 264     |    Revised - 01-09-2011     |    Published - 05-10-2011
Volume - 2   Issue - 4    |    Publication Date - September / October 2011  Table of Contents
Manipulator Robot, Inverse Kinematics, DOF
This paper presents an algorithm to solve the inverse kinematics for a six degree of freedom (6 DOF) manipulator robot with wrist offset. This type of robot has a complex inverse kinematics, which needs a long time for such calculation. The proposed algorithm starts from find the wrist point by vectors computation then compute the first three joint angles and after that compute the wrist angles by analytic solution. This algorithm is tested for the TQ MA2000 manipulator robot as case study. The obtained results was compared with results of rotational vector algorithm where both algorithms have the same accuracy but the proposed algorithm saving round about 99.6% of the computation time required by the rotational vector algorithm, which leads to used this algorithm in real time robot control.
CITED BY (3)  
1 Lin, Y., & Min, H. (2015, June). Inverse kinematics of modular manipulator robot with shoulder offset based on geometric method mixed with analytical method algorithm. In Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), 2015 IEEE International Conference on (pp. 1198-1203). IEEE.
2 Cisneros Limón, R., Ibarra Zannatha, J. M., & Armada Rodriguez, M. A. (2013). Inverse kinematics of a humanoid robot with non-spherical hip: a hybrid algorithm approach. International Journal of Advanced Robotic Systems, 10, 1-13.
3 Park, J., Kim, J. M., Park, H. H., Kim, J. W., Kang, G. H., & Kim, S. H. (2012). An iterative algorithm for inverse kinematics of 5-DOF manipulator with offset wrist. World Academy of Science, Engineering and Technology, 72, 150-155.
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Professor Mohammed Zeki Hussain Al-Faiz
Nahrain University - Iraq
Mr. Mohammed S.Saleh
Diyala University - Iraq