A new solution for inverse kinematics equations of 6 DOF robotic manipulator with local closed chain

YANG Gai-yun; GUO Chang-jiang

doi:10.3969/j.issn.1004-1478.2001.01.002

Home>Articles>A new solution for inverse kinematics equations of 6 DOF robotic manipulator with local closed chain

DOI: 10.3969/j.issn.1004-1478.2001.01.002

A new solution for inverse kinematics equations of 6 DOF robotic manipulator with local closed chain

YANG Gai-yun

GUO Chang-jiang

Abstract：A new solution for inverse kinematics equation of 6 DOF robotic manipulator wi th local closed chain is presented. It is based on the D-H model and doesnt n eed to change the coordinates of manipulator and effector. Additionally it avoid s much inverse matrices multiplication in the course of deduction. So it is simp le and suitable for simulation and control.

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Publication Date：2001-01-01

Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)

Pages：4( 6-9 )

Journal of Zhengzhou Institute of Light Industry

ISTIC

ISSN：1004-1478

Year, Vol.(Issue)：2001,16(1)