Inverse Kinematics Analysis of 5-DOF Robot Manipulators Based on Virtual Joint Method

摘要

To solve the inverse kinematics problem of a robot manipulator without closed form solutions, one-dimensional iterative method is very useful. However, for a 5-DOF robot manipulator, because of the uncontrolable and uncertain orientation vectors, it's difficult to analytically express all joint variables by one of them, therefore one-dimensional iterative method can not be directedly used. By adding an appropriate virtual joint to it, a 5-DOF manipulator can be changed into a 6-DOF one so that the uncertain orientation vectors can be pre-given, and the difficulty is solved. To illustrate this virtual joint method a 5-DOF serial robot manipulator with prismatic arm joint and offset wrist is discussed in this paper as an example.