J Shanghai Jiaotong Univ Sci ›› 2022, Vol. 27 ›› Issue (5): 680-687.doi: 10.1007/s12204-022-2425-6

• Automation System & Theory • Previous Articles     Next Articles

Inverse Kinematics Analysis of a 6-DOF Manipulator Using Spherical Geometry Method

LIU Qunpo1,3 (刘群坡), LIU Guanghui1∗ (刘广辉), FEI Shumin2,3 (费树岷), WANG Haixing1(王海星), ZHANG Jianjun1,3 (张建军)   

  1. (1. School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo 454002, Henan, China; 2. School of Automation, Southeast University, Nanjing 211189, China; 3. Henan International Joint Laboratory of Direct Drive and Control of Intelligent Equipment, Henan Polytechnic University, Jiaozuo 454002, Henan, China)
  • Received:2021-03-24 Online:2022-09-28 Published:2022-09-03

Abstract: A 6-DOF cooperative manipulator is used for human spinal deformity detection. In order to ensure the scanning quality of spinal deformity and improve the solution rate and speed of inverse motion solution of the manipulator, an inverse kinematics analytical method based on spherical geometry is proposed in this paper. We take the AUBO-i5 collaborative manipulator as the research object, which combines the rapidity of analytical solution with the flexibility of spherical solution. In the Robot Operating System, the simulation experiment solves the inverse kinematics of 10 000 sets of randomly generated postures. The success rate and time-consuming of the solution are calculated. Compared with the two commonly used inverse kinematics solving algorithms, TRAC-IK and KDL, this method has obvious advantages in terms of success rate and average time-consuming.

Key words: manipulator, inverse kinematics, spherical geometry, solving success rate, average solving time

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