Inverse Kinematics of a 5-DOF Hybrid Manipulator

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详细

Control of any robotic system cannot be executed without a preliminary solution of the inverse kinematic problem. This problem implies determining the control actions of the actuators required to perform a given motion trajectory and embedded into the control system. The current study considers the inverse kinematics of a hybrid (parallel-serial) manipulator with five degrees-of-freedom (5-DOF). The article first briefly describes the manipulator structure, which includes 3-DOF parallel and 2-DOF serial parts, and then explains an algorithm for solving the inverse kinematics. The algorithm relies on the product-of-exponentials (PoE) formula applied to an equivalent manipulator with a serial structure. The proposed algorithm results in a closed-form solution with no assumptions about the manipulator geometry. A case study confirms the algorithm correctness. The method for solving the inverse kinematic problem can be adapted for other hybrid manipulators.

作者简介

A. Antonov

Mechanical Engineering Research Institute, Russian Academy of Sciences (IMASH RAN)

Email: antonov.av@imash.ru
Moscow, Russia

A. Fomin

Mechanical Engineering Research Institute, Russian Academy of Sciences (IMASH RAN)

编辑信件的主要联系方式.
Email: alexey-nvkz@mail.ru
Moscow, Russia

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