A novel kinematics analysis for a 5-DOF manipulator based on KUKA youBot

Yaolun Zhang, Yangmin Li, Xiao Xiao

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

1 Citation (Scopus)

Abstract

Inverse kinematics solutions can provide useful data for trajectory planning, motion control, etc. In this paper, a hybrid algebraic and analytical geometric solution with reservation method is proposed to solve the inverse kinematics, and the existence of all the possible solutions are specified. Therefore, without the selection and matching of multiple solutions for each joint, we can directly obtain the uniqueness of multiple solutions, according to the desired configuration in industrial application. Hence, for the method herein, it is not necessary to calculate all the possible solutions, therefore, compared with other methods, the computational efficiency is greatly enhanced. Finally, the proposed method is verified through simulation and experiment based on a KUKA youBot manipulator.
Original languageEnglish
Title of host publication2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
PublisherIEEE
Pages1477-1482
Number of pages6
ISBN (Electronic)9781467396745
DOIs
Publication statusPublished - 1 Jan 2015
Externally publishedYes
EventIEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 - Zhuhai Dehan Hotel, Zhuhai, China
Duration: 6 Dec 20159 Dec 2015

Conference

ConferenceIEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Country/TerritoryChina
CityZhuhai
Period6/12/159/12/15

Keywords

  • Hybrid algebraic and analytical geometric
  • Inverse kinematics
  • KUKA youBot manipulator
  • Reservation method
  • Serial manipulator

ASJC Scopus subject areas

  • Artificial Intelligence
  • Hardware and Architecture
  • Control and Systems Engineering

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