Inverse Kinematics of a 7R 6-DOF Robot with Nonspherical Wrist Based on Transformation into the 6R Robot

Joint Authors

Zhang, Dawei
Wang, Xuhao
Zhao, Chen

Source

Mathematical Problems in Engineering

Issue

Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-12, 12 p.

Publisher

Hindawi Publishing Corporation

Publication Date

2017-05-18

Country of Publication

Egypt

No. of Pages

12

Main Subjects

Civil Engineering

Abstract EN

The 7R 6-DOF robots with hollow nonspherical wrist have been proven more suitable for spray painting applications.

However, the inverse kinematics of this kind of robot is still imperfect due to the coupling between position and orientation of the end-effector (EE).

In this paper, a new and efficient algorithm for the inverse kinematics of a 7R 6-DOF robot is proposed.

The proposed inverse kinematics algorithm is a two-step method.

The geometry of the 7R 6-DOF robot is analyzed.

A comparison between the 7R 6-DOF robot and the well-known equivalent 6R robot is made.

Based on this comparison, a rational transformation between these two kinds of robots is constructed.

Then the general inverse kinematics algorithm of the equivalent 6R robot is applied to calculate the approximate solutions of the 7R 6-DOF robot, in the first step.

The Damped Least-Squares (DLS) method is employed to derive the exact solutions, in the second step.

The accuracy and efficiency of the algorithm are tested on a 7R 6-DOF painting robot.

The results show that the proposed algorithm is more advantageous in the case without an approximate solution, such as the initial point of a continuous trajectory.

American Psychological Association (APA)

Wang, Xuhao& Zhang, Dawei& Zhao, Chen. 2017. Inverse Kinematics of a 7R 6-DOF Robot with Nonspherical Wrist Based on Transformation into the 6R Robot. Mathematical Problems in Engineering،Vol. 2017, no. 2017, pp.1-12.
https://search.emarefa.net/detail/BIM-1189750

Modern Language Association (MLA)

Wang, Xuhao…[et al.]. Inverse Kinematics of a 7R 6-DOF Robot with Nonspherical Wrist Based on Transformation into the 6R Robot. Mathematical Problems in Engineering No. 2017 (2017), pp.1-12.
https://search.emarefa.net/detail/BIM-1189750

American Medical Association (AMA)

Wang, Xuhao& Zhang, Dawei& Zhao, Chen. Inverse Kinematics of a 7R 6-DOF Robot with Nonspherical Wrist Based on Transformation into the 6R Robot. Mathematical Problems in Engineering. 2017. Vol. 2017, no. 2017, pp.1-12.
https://search.emarefa.net/detail/BIM-1189750

Data Type

Journal Articles

Language

English

Notes

Includes bibliographical references

Record ID

BIM-1189750