Inverse Kinematics of Some General 6R/P Manipulators
This work addresses the inverse kinematics problem for robotics engineers and researchers, but it appears incremental as it builds on the existing HuPf algorithm for specific manipulator configurations.
The authors tackled the inverse kinematics problem for general serial manipulators (2RP3R, 2R2P2R, 3RP2R, and 6R) by developing an algorithm based on the HuPf algorithm, representing workspaces as quasi-projective varieties in projective space via dual quaternions to compute linear forms, and they presented numerical examples showing real solutions.
We develop an algorithm that solves the inverse kinematics of general serial 2RP3R, 2R2P2R, 3RP2R and 6R manipulators based on the HuPf algorithm. We identify the workspaces of the 3-subchains of the manipulator with a quasi-projective variety in $\mathbb{P}^7$ via dual quaternions. This allows us to compute linear forms that describe linear spaces containing the workspaces of these 3-subchains. We present numerical examples that illustrate the algorithm and show the real solutions.