Inverse Kinematics and Trajectory Planning of 6R Serial Manipulators

An inverse kinematic solution is introduced with the trajectory planning method for a kind of 6R serial manipulators,which has a close relationship with the initial pose configurations.On the basis of the unit axis vector and position vector of the joints of the 6R serial manipulator in the folded status,the screw theory and exponential production approach are used for the manipulator's kinematic solutions in the initial configurations,and a complete set of the 16 inverse kinematic solutions are deduced by the analytical method.The trajectories of the manipulator's joints are planned by the inverse kinematic solutions,which are guided by the end-effector's trajectories in the global coordinate system.The simulation results show that it is correct for the inverse kinematic solutions and the trajectory planning method for the 6R serial manipulator.The method for the inverse kinematic solution of the 6R serial manipulators is proved to have the advantages of simple to be modeled,easy to be solved and convenient to be planed for the trajectories.