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General inverse solution of six-degrees-of-freedom serial robots based on the product of exponentials model

Haixia Wang (Key Laboratory for Robot & Intelligent Technology of Shandong Province, Shandong University of Science and Technology, Qingdao, China)
Xiao Lu (Key Laboratory for Robot & Intelligent Technology of Shandong Province, Shandong University of Science and Technology, Qingdao, China)
Wei Cui (Key Laboratory for Robot & Intelligent Technology of Shandong Province, Shandong University of Science and Technology, Qingdao, China)
Zhiguo Zhang (Key Laboratory for Robot & Intelligent Technology of Shandong Province, Shandong University of Science and Technology, Qingdao, China)
Yuxia Li (Key Laboratory for Robot & Intelligent Technology of Shandong Province, Shandong University of Science and Technology, Qingdao, China)
Chunyang Sheng (Key Laboratory for Robot & Intelligent Technology of Shandong Province, Shandong University of Science and Technology, Qingdao, China)

Assembly Automation

ISSN: 0144-5154

Article publication date: 6 August 2018

188

Abstract

Purpose

Developing 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/approach

The 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.

Findings

A 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/value

The Rodrigues rotation formula is additionally used to turn the complex problem into a solvable trigonometric function and uniformly express six solutions using two formulas.

Keywords

Acknowledgements

The authors are grateful for Prof Yuanfang Zhang’s detailed guidance. The authors are also grateful to the reviewers for their valuable comments and suggestions which lead to improved presentation of this paper.

Funding This work was supported by the National Natural Science Foundation of China (61503224, 61273197, 61773245, 61473177, 61603068), China Postdoctoral Science Foundation (2015M582115 and 2016T90640), SDUST Public visiting scholar and Taishan Scholarship Construction Engineering.

Citation

Wang, H., Lu, X., Cui, W., Zhang, Z., Li, Y. and Sheng, C. (2018), "General inverse solution of six-degrees-of-freedom serial robots based on the product of exponentials model", Assembly Automation, Vol. 38 No. 3, pp. 361-367. https://doi.org/10.1108/AA-10-2017-122

Publisher

:

Emerald Publishing Limited

Copyright © 2018, Emerald Publishing Limited

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