General approach to solving the inverse problem of kinematics for a manipulator of a sequential structure by means of a finite rotation and displacement
Abstract:
A new approach to solving the inverse problem of kinematics for manipulators of a sequential structure with an arbitrary number of links connected by kinematic pairs of the fifth class is developed. Theorems on the finite angle of rotation and displacement for each degree of mobility of the manipulator are formulated, which make it possible to optimally use each degree of mobility when the gripper moves to specified position and orientation parameters when solving the inverse kinematics problem.
Keywords:
manipulator, kinematic pairs, inverse kinematics problem, final angle of rotation, finite displacement
