MESSAI.iO

AI summary

70% confidence

The paper proposes a new iterative algorithm for forward kinematics and inverse kinematics based on natural invariants for a 6R manipulator, achieving high efficiency and accuracy.

Generated by MESSAI extraction pipeline · review against source PDF

Generic MFCRepresentative model
Click to animate flow
loading 3D model…

Representative MFC — matched on the paper’s system type only, not its reactor or geometry.

Extraction

Reported parameters

No values extracted from this paper yet.

Open in lab for full controls, parameter editing, and template overlays.

Open in lab →

What they did

System
MFC

What worked

No outcome metrics extracted yet.

Abstract

In order to solve the problem of 6R manipulator kinematics, this paper analyzes the inverse kinematics solution and optimizes the solution process of forward kinematics. Aimed to the structural characteristics of the manipulator, this paper first introduces the concept of the natural invariants, establishes the Denavit-Hatenber (D-H) model based on the natural invariants and proposes a new iterative algorithm for manipulator forward kinematics. Then, the inverse kinematics based on the natural invariants is proposed, which is divided into the position inverse solution and the inverse attitude solution, and the analytical solution is obtained by analyzing the singularity of the solution. Finally, the visual simulation model is built with MFC and Coin4D. The simulation results show that the proposed forward and inverse kinematics method of the six-degree-of-freedom manipulator has small error and high efficiency, and the accuracy and real-time performance of the algorithm are verified.

Keywords

Inverse kinematicsKinematicsKinematics equationsForward kinematicsParallel manipulatorPosition (finance)

Identifiers

DOI
10.1088/1757-899X/816/1/012016
Journal
IOP Conference Series: Materials Science and Engineering
Year
2020