Determination of the Inverse Kinematics Branches of Solution Based on Joint Coordinates for Universal Robots-Like Serial Robot Architecture
- 18 November 2021
- journal article
- research article
- Published by ASME International in Journal of Mechanisms and Robotics
- Vol. 14 (3), 1-13
- https://doi.org/10.1115/1.4052805
Abstract
This paper introduces a classification of the inverse kinematics solutions (or robot postures) of six-degree-of-freedom serial robots with a geometry based on or similar to Universal Robots' arms. The solution of the inverse kinematics problem is first presented briefly and the equations required to classify the robot postures(branches) based on the joint coordinates are then introduced.Keywords
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