The closed form solution of the inverse kinematics of a 6-DOF robot

Abstract EN

The kinematics of manipulator is a central problem in the automatic control of robot manipulators.

Theoretical background of the analysis of the MA-2000 educational robot arm kinematics is presented in this paper.

The revolute robot consists of six rotary joints (6-DOF) with base, shoulder, elbow, wrist pitch, wrist yaw and wrist rolls.

The kinematics problem is defined as transformation from the Cartesian space to the joint space.

The Denavit-Hardenberg (D-H) model of representation is used to model robot links and joints in this study.

Both forward and inverse kinematics solutions for this robot are presented.

Four sets of exact solution for the vector of the joint angles pertaining to the inverse kinematics problem of a MA-2000 robot with two different kinds of gripper configurations.

An effective method is suggested to decrease multiple solutions in inverse kinematics.