Kinematics Analysis and Inverse Kinematics Solution of a 5 DOF Manipulator

Abstract

For a universal six-degree-of-freedom manipulator, a mathematic model is usually established based on the Cartesian space to solve the pose of its end-effector.The same method can be used to establish the model of the five-degree-of-freedom manipulator, and the positive kinematics equation is established to obtain the position of the end-effector.The position is described based on the Cartesian space, with six independent variables, corresponding to six degrees of freedom in the Cartesian space.Due to the lack of degree of freedom of the five-degree-of-freedom manipulator, the inverse kinematics solution does not exist when the trajectory is planned by the pose.Aiming at the problem, a method of solving the inverse kinematics of five-degree-of-freedom manipulator is proposed by geometric method.Through this method, the inverse kinematics solution is divided into two steps.First, the position coordinates of the fifth joint are obtained, and the angle of the first four joints is solved by geometric method.The simulation experiment is carried out using MATLAB Robotics Toolbox, which proves the feasibility of the method.