An Iterative Algorithm for Inverse Kinematics of 5-DOF Manipulator with Offset Wrist
This paper presents an iterative algorithm to find a
inverse kinematic solution of 5-DOF robot. The algorithm is to
minimize the iteration number. Since the 5-DOF robot cannot give full
orientation of tool. Only z-direction of tool is satisfied while rotation
of tool is determined by kinematic constraint. This work therefore
described how to specify the tool direction and let the tool rotation free.
The simulation results show that this algorithm effectively worked.
Using the proposed iteration algorithm, error due to inverse kinematics
converged to zero rapidly in 5 iterations. This algorithm was applied in
real welding robot and verified through various practical works.
[1] J. Park et al., "Development of A Portable Welding Robot With
EtherCAT Interface," International Conf. on Manufacturing Engineering
and Technology, 2011.
[2] J. Q. Gan, E. Qyama, E.M. Rosales, H.Hu, "A complete analytical
solution to the inverse kinematics of the Pioneer2 robotic arm," Journal of
Robotica, 2005, vol. 23, no. 1, pp. 123-129.
[3] L. ZXhizhong, L. Hongyi and L. Zhong, "Inverse Kinematics Analysis of
5-DOF Robot Manipulators Based on Virtual Joint Method", Applied
mechanics and Materials, 2012, Vol 143-144, pp. 265-268.
[4] D. Su, C. A. A. Calderon, J.Q. Gan, H. Hu, "An Analysis of the Inverse
Kinematics for a 5-DOF Manipulator", International Journal of
Automation and Computing, 2005, pp. 114-124.
[5] R. L. Williams II, "Inverse Kinematics and Singularities of Manipulators
with offset wrist," IASTED International Journal of Robotics and
Automation Automation, 1999, Vol. 12, No. 1, pp. 1-8.
[6] M. Z. Al-Faiz and M. S. Saleh, "Inverse Kinematics Analysis for
Manipulator Robot with Wrist Offset Based on the Closed-Form
Algorithm," International Journal of Robotics and Automation, 2011,
Vol. 2, No. 4, pp. 256-264.
[7] J. J. Craig, Introduction to Robotics 2nd Ed., Addison Wesley, 1989.
[1] J. Park et al., "Development of A Portable Welding Robot With
EtherCAT Interface," International Conf. on Manufacturing Engineering
and Technology, 2011.
[2] J. Q. Gan, E. Qyama, E.M. Rosales, H.Hu, "A complete analytical
solution to the inverse kinematics of the Pioneer2 robotic arm," Journal of
Robotica, 2005, vol. 23, no. 1, pp. 123-129.
[3] L. ZXhizhong, L. Hongyi and L. Zhong, "Inverse Kinematics Analysis of
5-DOF Robot Manipulators Based on Virtual Joint Method", Applied
mechanics and Materials, 2012, Vol 143-144, pp. 265-268.
[4] D. Su, C. A. A. Calderon, J.Q. Gan, H. Hu, "An Analysis of the Inverse
Kinematics for a 5-DOF Manipulator", International Journal of
Automation and Computing, 2005, pp. 114-124.
[5] R. L. Williams II, "Inverse Kinematics and Singularities of Manipulators
with offset wrist," IASTED International Journal of Robotics and
Automation Automation, 1999, Vol. 12, No. 1, pp. 1-8.
[6] M. Z. Al-Faiz and M. S. Saleh, "Inverse Kinematics Analysis for
Manipulator Robot with Wrist Offset Based on the Closed-Form
Algorithm," International Journal of Robotics and Automation, 2011,
Vol. 2, No. 4, pp. 256-264.
[7] J. J. Craig, Introduction to Robotics 2nd Ed., Addison Wesley, 1989.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:57304", author = "Juyi Park and Jung-Min Kim and Hee-Hwan Park and Jin-Wook Kim and Gye-Hyung Kang and Soo-Ho Kim", title = "An Iterative Algorithm for Inverse Kinematics of 5-DOF Manipulator with Offset Wrist", abstract = "This paper presents an iterative algorithm to find a
inverse kinematic solution of 5-DOF robot. The algorithm is to
minimize the iteration number. Since the 5-DOF robot cannot give full
orientation of tool. Only z-direction of tool is satisfied while rotation
of tool is determined by kinematic constraint. This work therefore
described how to specify the tool direction and let the tool rotation free.
The simulation results show that this algorithm effectively worked.
Using the proposed iteration algorithm, error due to inverse kinematics
converged to zero rapidly in 5 iterations. This algorithm was applied in
real welding robot and verified through various practical works.", keywords = "5-DOF manipulator, Inverse kinematics, Iterative
algorithm, Wrist offset.", volume = "6", number = "12", pages = "2755-6", }