Inverse Kinematics of Not Fully Serial Robot Linkages With Nonsingular Wrists
The new V-point method transforms Cartesian coordinates to joint angles in robots with nonsingular wrists: wrists with non-serial linkages and more joints than degrees of freedom. While such wrists improve robot motion for predetermined paths, a rapid inverse is needed to provide the response time required for guidance by vision or other sensing. The V-point method, faster than current recursive procedures, approaches the speed of closed form solution of serial linkages. The method is derived for a wrist by Milenkovic [2,3,11] and outlined for other nonsingular wrists, including the Molaug wrist  (Trallfa robot, c. 1970).
Unable to display preview. Download preview PDF.
- Milenkovic, V.,“Effect of Robot Wrist Singularity on Path Control,” Proc. 14th ISIR, Oct. 1984, Gothenburg, Sweden, pp. 279–285.Google Scholar
- Milenkovic, V., “Hollow Non-Singular Robot Wrist,” U.S. Patent 4,744,264, May 17, 1988.Google Scholar
- Milenkovic, V., “New Nonsingular Robot Wrist Design,” Proc. 17th ISIR and Robots 11, RI of SME, April 1987, Chicago, IL, pp. 13–29 to 13–42.Google Scholar
- Molaug, O., “Flexible Robot Arm,” U.S. Patent 4,107, 948, August 1978.Google Scholar
- Milenkovic, V. and Huang, B., “Kinematics of Major Robot Linkage,” Proc. 13th ISIR and Robots 7, RI of SME April 1983, Chicago, IL, pp. 16–31 to 16–42.Google Scholar
- Takano, M., Yashima, K. and Toyama, S., “A New Method of Solution of Synthesis Problem of a Robot and Its Application to Computer Simulation System,” Proc. 14th ISIR Oct. 1984, Gothenburg, Sweden, 261–268.Google Scholar
- Paul,R.P., Robot Manipulators: Mathematics, Programming, and Control, The MIT Press Cambridge, MA, 1982, pp. 65, 83.Google Scholar
- Susnjara, K. S. and Fleck, M. A., “Wrist Construction for Industrial Robots,” U.S. Patent 4,353, 677, October 1982.Google Scholar
- Rosheim, M.E.,“A New Pitch-Yaw-Roll Mechanical Wrist Actuator,” Proc. Robots 9 Conf., RI of SME, June 1985, Detroit, MI, pp. 15–20 to 15–42.Google Scholar
- Milenkovic, V., “Non-Singular Industrial Robot Wrist,” U.S. Patent 4,907,937, March 13, 1990.Google Scholar