An Iterative Algorithm for Inverse Kinematics of 5-DOF Manipulator with Offset Wrist
This paper presents an iterative algorithm to find a
inverse kinematic solution of 5-DOF robot. The algorithm is to
minimize the iteration number. Since the 5-DOF robot cannot give full
orientation of tool. Only z-direction of tool is satisfied while rotation
of tool is determined by kinematic constraint. This work therefore
described how to specify the tool direction and let the tool rotation free.
The simulation results show that this algorithm effectively worked.
Using the proposed iteration algorithm, error due to inverse kinematics
converged to zero rapidly in 5 iterations. This algorithm was applied in
real welding robot and verified through various practical works.
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