Solution of inverse kinematic problem for serial robot based on screw theory

Liangchuang Liao; Weibin Chen; Ding Yan; Yan Shen

doi:10.1117/12.2558462

22 April 2020 Solution of inverse kinematic problem for serial robot based on screw theory

Liangchuang Liao, Weibin Chen, Ding Yan, Yan Shen

Proceedings Volume 11376, Active and Passive Smart Structures and Integrated Systems XIV; 113762I (2020) https://doi.org/10.1117/12.2558462
Event: SPIE Smart Structures + Nondestructive Evaluation, 2020, Online Only

Abstract

Robot inverse kinematic problem is a widely studied problem. In this paper, we present a numerical method to solve robot inverse kinematic problem based on screw theory. In this method, we transform the inverse kinematic problem into optimization problem and a damping term is introduced. It combine the advantages of Newton method and gradient descent method improve the shortcomings of both methods. At last, we use this method to solve the inverse kinematics problem of JARI 6R serial industry robot and the calculation result is shown.

Citation Download Citation

Liangchuang Liao, Weibin Chen, Ding Yan, and Yan Shen "Solution of inverse kinematic problem for serial robot based on screw theory", Proc. SPIE 11376, Active and Passive Smart Structures and Integrated Systems XIV, 113762I (22 April 2020); https://doi.org/10.1117/12.2558462

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