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

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

Robotica / Volume 33 / Issue 04 / May 2015, pp 747 767 DOI: 10.1017/S0263574714000538, Published online: 13 March 2014 Link to this article: http://journals.cambridge.org/abstract_S0263574714000538 How to cite this article: Masayuki Shimizu (2015). Analytical inverse kinematics for 5-DOF humanoid manipulator under arbitrarily specied unconstrained orientation of end-effector. Robotica, 33, pp ...

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This paper proposes an analytical solution for a 5-DOF manipulator to follow a given trajectory while keeping the orientation of one axis in the end-effector frame. The forward kinematics and inverse kinematics for a 5-DOF manipulator are analyzed systemically. The singular problem is discussed after the forward kinematics is provided. For any given reachable position and orientation of the end...

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