World Academy of Science, Engineering and Technology
Published December 25, 2012 | Version 8220
Journal article Open

An Iterative Algorithm for Inverse Kinematics of 5-DOF Manipulator with Offset Wrist

Authors/Creators

Description

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.

Files

8220.pdf

Files (259.8 kB)

Name Size Download all
md5:07b971f4f29b9961bec92a9269e23a31
259.8 kB Preview Download

Additional details

References

  • J. Park et al., "Development of A Portable Welding Robot With EtherCAT Interface," International Conf. on Manufacturing Engineering and Technology, 2011.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • J. J. Craig, Introduction to Robotics 2nd Ed., Addison Wesley, 1989.