Hostname: page-component-54dcc4c588-dbm8p Total loading time: 0 Render date: 2025-10-05T19:00:49.779Z Has data issue: false hasContentIssue false
  • English
  • Français

An improved inverse kinematics solution for 6-DOF robot manipulators with offset wrists

Published online by Cambridge University Press:  14 January 2022

Xing Zhou ,
Yaoqi Xian Open the ORCID record for Yaoqi Xian [Opens in a new window] ,
Yuanhao Chen ,
Tongshu Chen ,
Lin Yang ,
Simin Chen  and
Jian Huang
Xing Zhou
Affiliation:
Foshan Institute of Intelligent Equipment Technology, Foshan 528000, China School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430000, China
Yaoqi Xian*
Affiliation:
Foshan Institute of Intelligent Equipment Technology, Foshan 528000, China
Yuanhao Chen
Affiliation:
Foshan Institute of Intelligent Equipment Technology, Foshan 528000, China
Tongshu Chen
Affiliation:
Foshan Institute of Intelligent Equipment Technology, Foshan 528000, China
Lin Yang
Affiliation:
Huashu Robot Co., Ltd., Foshan 528000, China
Simin Chen
Affiliation:
Foshan Institute of Intelligent Equipment Technology, Foshan 528000, China
Jian Huang
Affiliation:
Foshan Institute of Intelligent Equipment Technology, Foshan 528000, China
*
*Corresponding author. E-mail: xianyaoqi@gmail.com
Get access Rights & Permissions [Opens in a new window]

Abstract

Efficiently solving inverse kinematics (IK) of robot manipulators with offset wrists remains a challenge in robotics due to noncompliance with Pieper criteria. In this paper, an improved method to solve the IK for 6-DOF robot manipulators with offset wrists is proposed. This method is based on the Newton iteration technique, but it does not require a selection of initial estimation of joint variables. The solution is divided into two parts: the first part is to reconstruct a simplified structure with analytical IK solution, and the second part is to obtain a numerical solution by iteration. Further, a robot manipulator HSR-BR606 with an offset wrist is used as an example to specifically elaborate the mathematical procedure of the method and to investigate the algorithm in terms of accuracy, efficiency, and application of motion planning. A comparative experiment is conducted with a typical IK algorithm, which demonstrates a higher accuracy and shorter calculation time of the proposed method. The mean calculation time for a single IK solution required for this algorithm is only 4% of the comparison algorithm.

Keywords

offset wristinverse kinematicsrobot manipulator

Information

Type
Research Article
Information
Robotica , Volume 40 , Issue 7 , July 2022 , pp. 2275 - 2294
Copyright
© The Author(s), 2022. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

Aristidou, A. and Lasenby, J., Inverse kinematics: A review of existing techniques and introduction of a new fast iterative solver, Technical Report, 2009.Google Scholar
Craig, J. J., Introduction to Robotics: Mechanics and Control, 3rd ed. (Pearson Education, London, 2005).Google Scholar
Pieper, D. L., The Kinematics of Manipulators Under Computer Control (Department of Mechanical Engineering, Stanford University, Stanford, 1969).Google Scholar
Paul, R. P. and Stevenson, C. N., “Kinematics of robot wrists,” Int. J. Rob. Res. 2(1), 31–38 (1983).CrossRefGoogle Scholar
S. KuCuk and Z. Bingul, “The Inverse Kinematics Solutions of Industrial Robot Manipulators,” Proceedings of the IEEE International Conference on Mechatronics, 2004. ICM’04 (IEEE, 2004) pp. 274–279.Google Scholar
Kucuk, S. and Bingul, Z., “Inverse kinematics solutions for industrial robot manipulators with offset wrists,” Appl. Math. Model. 38(7–8), 1983–1999 (2014).Google Scholar
Robla-Gómez, S., Becerra, V. M., Llata, J. R., Gonzalez-Sarabia, E., Torre-Ferrero, C. and Perez-Oria, J., “Working together: A review on safe human-robot collaboration in industrial environments,” IEEE Access 5( 1), 26754–26773 (2017).CrossRefGoogle Scholar
Wang, T.-M., Tao, Y. and Liu, H., “Current researches and future development trend of intelligent robot: A review,” Int. J. Autom. Comput. 15(1), 525–546 (2018).CrossRefGoogle Scholar
Hentout, A., Aouache, M., Maoudj, A. and Akli, I., “Human–robot interaction in industrial collaborative robotics: A literature review of the decade 2008–2017,” Adv. Rob. 33(15–16), 764–799 (2019).CrossRefGoogle Scholar
Trinh, C., Zlatanov, D., Zoppi, M. and Molfino, R., “A Geometrical Approach to the Inverse Kinematics of 6r Serial Robots with Offset Wrists,” International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (American Society of Mechanical Engineers, 2015) pp. V05CT08A016.Google Scholar
Wei, Y., Jian, S., He, S. and Wa, Z. ng, , “General approach for inverse kinematics of nR robots,” Mech. Mach. Theory 75(1), 97–106 (2014).CrossRefGoogle Scholar
Angeles, J., “On the numerical solution of the inverse kinematic problem,” Int. J. Rob. Res. 4(2), 21–37 (1985).CrossRefGoogle Scholar
Balestrino, A., De Maria, G. and Sciavicco, L., “Robust control of robotic manipulators,” IFAC Proc. Vol. 17(2), 2435–2440 (1984).CrossRefGoogle Scholar
Goldenberg, A. A., Apkarian, J. A. and Smith, H. W., “A new ap proach to kinematic control of robot manipulators,” J. Dyn. Syst. Meas. Control 109(2), 97–103 (1987).CrossRefGoogle Scholar
Chiaverini, S. and Siciliano, B., “Review of damped least squares inverse kinematics with experiments on an industrial robot manipulator,” IEEE Trans. Control Syst. Technol. 2(2),123–134 (1994).CrossRefGoogle Scholar
Feng, Y., Yao-nan, W. and Yi-min, Y., “Inverse kinematics solution for robot manipulator based on neural network under joint subspace,” Int. J. Comput. Commun. Control 7(3), 459–472 (2014).CrossRefGoogle Scholar
Xu, J., Song, K., He, Y., Dong, Z. and Yan, Y., “Inverse k inematics for 6-DOF serial manipulators with offset or reduced wrists via a hierarchical iterative algorithm,” IEEE Access 6(1), 52899–52910 (2018).CrossRefGoogle Scholar
Köker, R., Öz, C., Çakar, T. and Ekiz, H., “A study of neu ral network based inverse kinematics solution for a three-joint robot,” Rob. Auton. Syst. 49(3–4), 227–234 (2004).CrossRefGoogle Scholar
Karlra, P. and Prakash, N. R., “A Neuro-Genetic Algorithm Approach for Solving the Inverse Kinematics of Robotic Manipulators,” SMC’03 Conference Proceedings. 2003 IEEE International Conference on Systems, Man and Cybernetics. Conference Theme-System Security and Assurance (Cat. No. 03CH37483) (IEEE, 2003) pp. 1979–1984.Google Scholar
Kalra, P., Mahapatra, P. and Aggarwal, D., “An evolutionary approach for solving the multimodal inverse kinematics problem of industrial robots,” Mech. Mach. Theory 41(10), 1213–1229 (2006).CrossRefGoogle Scholar
Ghafil, H. N. and Jármai, K., “Optimization Algorithms for Inverse Kinematics of Robots with MATLAB Source Code,” In: Vehicle and Automotive Engineering (Springer, 2020) pp. 468–477.Google Scholar
Toz, M., “Chaos-based Vortex Search algorithm for solving inverse kinematics problem of serial robot manipulators with offset wrist,” Appl. Soft Comput. 89(1), 106074 (2020).CrossRefGoogle Scholar
Shi, Q. and Xie, J., “A Research on Inverse Kinematics Solution of 6-DOF Robot with Offset-Wrist Based on Adaboost Neural Network,” 2017 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM) (IEEE, 2017) pp. 370–375.CrossRefGoogle Scholar
Li, J., Yu, H., Shen, N., Zhong, Z., Lu, Y. and Fan, J., “A novel i nverse kinematics method for 6-DOF robots with non-spherical wrist,” Mech. Mach. Theory 157(1), 104180 (2021).CrossRefGoogle Scholar
Siciliano, B. and Khatib, O., Springer Hand book of Robotics (Springer, Switzerland, 2016).CrossRefGoogle Scholar
Wu, L., Yang, X., Miao, D., Xie, Y. and Chen, K., “Inverse Kinematics of a Class of 7R 6-DOF Robots with Non-Spherical Wrist,” 2013 IEEE International Conference on Mechatronics and Automation (IEEE, 2013) pp. 69–74.CrossRefGoogle Scholar
Bottema, O. and Roth, B., Theoretical Kinematics (Courier Corporation, North Chelmsford, 1990).Google Scholar
Corke, P., Robotics, Vision and Control: Fundamental Algorithms in Matlab (Springer, Switzerland, 2011).CrossRefGoogle Scholar