Exact solution to the inverse kinematics problem of a standard 6‐axis robot manipulator

摘要

Abstract Presented are four sets of exact solutions for the vector of the joint angles {θ i } pertaining to the inverse kinematics problem of a standard 6‐axis robot manipulator with two different kinds of gripper configurations. Here a standard 6‐axis robot is meant to be a general computer‐controlled revolute robot with base, shoulder, elbow, wrist pitch, wrist yaw, wrist roll, and gripping action. Explicit solutions are obtained using Denavit‐Hartenberg homogeneous transformations. Furthermore, the inverse solutions are examined by means of a direct kinematic computer program.