Inverse Kinematics Solution for Two 6R Special Configuration Manipulators Based on Screw Theory

摘要

Inverse kinematics solution for a 6R manipulator, even which has closed-form solution, is difficult to obtain if the existed four Sub-problems are based on only. This paper introduces two extra extended sub-problems, through which and the existed four Sub-problems all inverse kinematic solutions for 6-R manipulators having closed-form inverse kinematics can be gained. The examples of the inverse kinematic solutions for two new particular configuration manipulators are presented.