A Complete Closed-Form Solution to the Inverse Kinematics Problem for the P2Arm Manipulator Robot

Year
2010
Type(s)
Author(s)
Jose Gabriel Ramirez-Torres and Gregorio Toscano-Pulido and Apolinar Ramirez-Saldivar and Arturo Hernandez-Ramirez
Source
In 2010 IEEE Electronics, Robotics and Automotive Mechanics Conference, 2010
Url
http://doi.org/10.1109/CERMA.2010.50

In this paper, we propose a complete closed-form solution to the inverse kinematics problem for a 5-dof manipulator robot, where the existence conditions for all the possible solutions are clearly established and the “singular configurations” where infinite solutions exist are identified. We define a “desired configuration” for the final effector as the position for the center of the gripper and the direction of the gripper’s main axis. This choice seems natural for robots mainly devoted to assembling tasks, even if the rotation around this main axis cannot be freely set. Under these conditions, a straight-forward method in order to obtain all the different exact solutions is also presented.