@inproceedings{13d6e7c038a542d39569f48fc5c6cdf6,
title = "POE-Based Inverse Kinematics Analysis for a Six-DOF Robotic Manipulator",
abstract = "The inverse kinematics analysis is an important basis for the trajectory planning and real-time control of a manipulator. In this paper, the inverse kinematics of 6-DOF manipulator is analyzed based on the exponential product method. Firstly, the configuration of the manipulator is introduced and the correlated parameters are discussed. The mapping relationship between the posture of end-effector and the parameters of joints is established by using the exponential product formula. Then the process of achieving inverse kinematics solutions is developed based on the Paden-Kahan sub-problems. The developed process avoids establishing the local coordinate systems of each link and the complex spatial geometric analysis that the D-H method involves. Finally, the efficacy of the inverse solution is further verified by two cases.",
keywords = "Kinematics analysis, Paden-Kahan sub-problem, inverse solution, product of exponential",
author = "Yinghao Ning and Rongfang Hu and Yanwei Chen and Xuli Chen and Shiyong Ren and Bing Li",
note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 7th International Conference on Automation, Control and Robotics Engineering, CACRE 2022 ; Conference date: 15-07-2022 Through 16-07-2022",
year = "2022",
doi = "10.1109/CACRE54574.2022.9834203",
language = "英语",
series = "Proceedings - 2022 7th International Conference on Automation, Control and Robotics Engineering, CACRE 2022",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "71--75",
editor = "Fumin Zhang and Guimin Chen and Lichuan Zhang",
booktitle = "Proceedings - 2022 7th International Conference on Automation, Control and Robotics Engineering, CACRE 2022",
address = "美国",
}