Algorithm and Application of Inverse Kinematics for 6-DOF Welding Robot Based on Screw Theory

DOI

10.2991/icitme-18.2018.32How to use a DOI?

Keywords

industry robot; screw theory; inverse kinematics; Paden-Kahan sub-problem

Abstract

In order to achieve efficient and reliable inverse kinematics for industrial robot, an inverse kinematics solution is proposed for common 6 DOF industrial robots with the structure characteristics that can be described as “the last three joints axes are intersect, joint 2 and 3 are parallel and non co-planar but perpendicular to joint 1”.Taking the screw kinematics model, the solution is established by using geometry relation method and basic known Paden-Kahan sub-problems. Firstly, the 1st joint angle is solved by the geometrical relationship between the robot wrist point and first three joint axes, and the rest five joint angles are solved by transforming into three Panden-Kahan sub-problem 1 and one sub-problem 2, so that the complete closed form solutions for inverse kinematics are provided. The accuracy and practicality of the algorithm are testified by the results in V-groove welding experiment.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Lei Hong
AU  - Baosheng Wang
AU  - Zhenqin Xu
AU  - Dongsheng Lv
PY  - 2018/08
DA  - 2018/08
TI  - Algorithm and Application of Inverse Kinematics for 6-DOF Welding Robot Based on Screw Theory
BT  - Proceedings of the 2018 International Conference on Information Technology and Management Engineering (ICITME 2018)
PB  - Atlantis Press
SP  - 159
EP  - 163
SN  - 1951-6851
UR  - https://doi.org/10.2991/icitme-18.2018.32
DO  - 10.2991/icitme-18.2018.32
ID  - Hong2018/08
ER  -