The inverse kinematic analysis of the general 6R serial robot has been a very significant and important problem in the theory of the spatial mechanisms. Because the solution to inverse kinematics problem of the general 5R serial robot is unique and its assembly condition has been derived, a simple effective method for inverse kinematics problem of general 6R serial robot or forward kinematics problem of general 7R single-loop mechanism is presented based on a one-dimension searching algorithm. All the real solutions to inverse kinematics problems of the general 6R serial robot or forward kinematics problems of the general 7R single-loop mechanism can be obtained. The new method has the following features: (1) using one-dimension searching algorithm, all the real inverse kinematic solutions are obtained and it has higher computing efficiency; and (2) compared with the algebraic method, it has evidently reduced the difficulty of deducing formulas. The principle of the new method can be generalized to kinematic analysis of parallel mechanisms.
Skip Nav Destination
Article navigation
August 2007
Research Papers
A Simple Method for Inverse Kinematic Analysis of the General 6R Serial Robot
Yang Ting Li
Yang Ting Li
Search for other works by this author on:
Shi Zhi Xin
Luo Yu Feng
Hang Lu Bing
Yang Ting Li
J. Mech. Des. Aug 2007, 129(8): 793-798 (6 pages)
Published Online: August 18, 2006
Article history
Received:
January 23, 2006
Revised:
August 18, 2006
Citation
Xin, S. Z., Feng, L. Y., Bing, H. L., and Li, Y. T. (August 18, 2006). "A Simple Method for Inverse Kinematic Analysis of the General 6R Serial Robot." ASME. J. Mech. Des. August 2007; 129(8): 793–798. https://doi.org/10.1115/1.2735636
Download citation file:
Get Email Alerts
Large Language Models for Predicting Empathic Accuracy Between a Designer and a User
J. Mech. Des (April 2025)
Repurposing as a Decommissioning Strategy for Complex Systems: A Systematic Review
J. Mech. Des (May 2025)
Related Articles
Design of Continuous Backbone, Cable-Driven Robots
J. Mech. Des (June,2002)
Modeling of Industrial Robot Kinematics Using a Hybrid Analytical and Statistical Approach
J. Mechanisms Robotics (October,2022)
A Geometric Path Planner for Car-like Robots
J. Mech. Des (September,2000)
Biped RCCR Mechanism
J. Mech. Des (March,2009)
Related Proceedings Papers
Related Chapters
Pseudoinverse Method and Singularities Discussed
Robot Manipulator Redundancy Resolution
Kinematics Analysis of Scissor Robot
International Conference on Control Engineering and Mechanical Design (CEMD 2017)
A Vision-Based Kinematic Calibration for Pick-and-Place Robot
International Conference on Information Technology and Management Engineering (ITME 2011)