Inverse Kinematics Algorithm for 6-DOF Robots with Offset Wrist Based on Offset Compensation

摘要

Generally,there are no practical closed-form inverse kinematics solutions for 6-DOF serial robot manipulators with offset wrist.According to the geometric characters of the wrist offsets,based on the corresponding spherical wrist manipulator,numerical solutions for the manipulators with offset wrist can be obtained by complementally translating and iteratively correcting its wrist position.The algorithm does not affect the end orientation.Position errors are directly used to control the iterative process,so the numerical solutions can be evaluated to arbitrary precision.In the process,all joint variables are always computed by using the closed-form solutions of the corresponding spherical wrist manipulator,thus the codes are versatile.A large number of tests confirms that the algorithm can meet the requirements of real-time control.