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Analytical solution to inverse kinematic problem for 6-DOF robot-manipulator

  • Automation in Industry
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Abstract

Analytical solution to inverse kinematic problem for 6-DOF (Degree Of Freedom) robot-manipulators is considered. Well-known approaches to solving the problem involve geometrical and numerical methods. In this paper we discuss the solution technique based on deriving the system of nonlinear equations and solving it in the general view.

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References

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Authors and Affiliations

  1. Central Research Institute of Robot Engineering and Engineering Cybernetics, St. Petersburg, Russia

    I. A. Vasilyev

  2. Avers Group, St. Petersburg, Russia

    A. M. Lyashin

Authors
  1. I. A. Vasilyev
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  2. A. M. Lyashin
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Additional information

Original Russian Text © I.A. Vasilyev, A.M. Lyashin, 2008, published in Avtomatizatsiya v Promyshlennosti, 2008, No. 10, pp. 3–5.

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Vasilyev, I.A., Lyashin, A.M. Analytical solution to inverse kinematic problem for 6-DOF robot-manipulator. Autom Remote Control 71, 2195–2199 (2010). https://doi.org/10.1134/S0005117910100218

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  • DOI: https://doi.org/10.1134/S0005117910100218

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