Inverse kinematics solutions for industrial robot manipulators with offset wrists

Abstract In this paper, the inverse kinematics solutions for 16 industrial 6- D egrees-of- F reedom (DOF) robot manipulators with offset wrists are solved analytically and numerically based on the existence of the closed form equations. A new numerical algorithm is proposed for the inverse kinematics of the robot manipulators that cannot be solved in closed form. In order to illustrate the performance of the N ew I nverse K inematics A lgorithm (NIKA), the simulation results attained from NIKA are compared with those obtained from well-known N ewton– R aphson A lgorithm (NRA). The inverse kinematics solutions of two robot manipulators with offset wrists are given as examples. In order to have a complete idea, the inverse kinematics solution techniques for 16 industrial robot manipulators are also summarized in a table.

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