Inverse Kinematic Solution of a 6 DoF Serial Manipulator

摘要

In the robotics sector, inverse kinematics is one of the most typical research areas in design, trajectory planning, and dynamic analysis of robots. In this paper, an efficient algorithm for the inverse kinematics of a six degree of freedom robot manipulator for different aerospace applications is proposed. The proposed inverse kinematics algorithm is the Broyden-Fletcher-Goldfarb-Shanno algorithm, used for solving unconstrained nonlinear optimization problems. The developed algorithm is validated using simulation in Robotic toolbox. A separate MATLAB script is provided for a 3D visualization of the robot arm.