Abstract
PurposeDeveloping general closed-form solutions for six-degrees-of-freedom (DOF) serial robots is a significant challenge. This paper thus aims to present a general solution for six-DOF robots based on the product of exponentials model, which adapts to a class of robots satisfying the Pieper criterion with two parallel or intersecting axes among its first three axes.Design/methodology/approachThe proposed solution can be represented as uniform expressions by using geometrical properties and a modified Paden–Kahan sub-problem, which mainly adopts the screw theory.FindingsA simulation and experiments validated the correctness and effectiveness of the proposed method (general resolution for six-DOF robots based on the product of exponentials model).Originality/valueThe Rodrigues rotation formula is additionally used to turn the complex problem into a solvable trigonometric function and uniformly express six solutions using two formulas.
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