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Analytical inverse kinematics for 5-DOF humanoid manipulator under arbitrarily specified unconstrained orientation of end-effector

Published online by Cambridge University Press:  13 March 2014

Masayuki Shimizu
Masayuki Shimizu*
Affiliation:
Department of Mechanical Engineering, Shizuoka University, Hamamatsu, Japan
*
*Corresponding author. E-mail: tmsimiz@ipc.shizuoka.ac.jp
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Summary

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This paper proposes an analytical method of solving the inverse kinematic problem for a humanoid manipulator with five degrees-of-freedom (DOF) under the condition that the target orientation of the manipulator's end-effector is not constrained around an axis fixed with respect to the environment. Since the number of the joints is less than six, the inverse kinematic problem cannot be solved for arbitrarily specified position and orientation of the end-effector. To cope with the problem, a generalized unconstrained orientation is introduced in this paper. In addition, this paper conducts the singularity analysis to identify all singular conditions.

Keywords

Inverse kinematics5-DOF manipulatorUnconstrained orientationSingular configurationHumanoid robots
Type
Articles
Information
Robotica , Volume 33 , Issue 4 , May 2015 , pp. 747 - 767
Creative Commons
Creative Common License - CCCreative Common License - BY
The online version of this article is published within an Open Access environment subject to the conditions of the Creative Commons Attribution licence http://creativecommons.org/licenses/by/3.0/
Copyright
Copyright © Cambridge University Press 2014

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