Inverse solution of six-degrees-of-freedom serial robot with adjacent three joint axes parallel based on screw theory

Abstract

Inverse kinematics occupies a vital role in robotics and is the fundation of robot trajectory planning as well as rigid body motion, which directly affects the rapidity and accuracy of control. Compared with the traditional Denavit-Hatenberg parameter modeling, the screw method has its unique advantages. The paper establishes the kinematic model of a six-degree-of-freedom serial robot using screw theory. The Paden-Kahan sub-problem, orientation separation reduction technique and matrix transformation are used to resolve the inverse kinematics. The effectiveness and validity of the above algorithm are verified by data calculation. A new inverse solution algorithm is designed in this paper to propose an idea for the inverse kinematic solution with the second, third, and fourth joints being parallel to each other in the robot.