The Inverse Kinematic Analysis of Spatial 1P5R Serial Manipulators Based on The Double Matrix

doi:10.13190/j.jbupt.2021-098

Journal of Beijing University of Posts and Telecommunications ›› 2022, Vol. 45 ›› Issue (1): 33-38.doi: 10.13190/j.jbupt.2021-098

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The Inverse Kinematic Analysis of Spatial 1P5R Serial Manipulators Based on The Double Matrix

ZHANG Ying, HUANG Qineng, WEI Shimin, LIAO Qizheng

School of Modern Post, Beijing University of Posts and Telecommunications, Beijing 100876, China

Received:2021-05-24 Online:2022-02-28 Published:2021-12-16

Abstract

Abstract: Introducing the double-matrix into the kinematic analysis of serial manipulators, and combined with the four-dimensional rotation matrix, a novel method for the inverse kinematic analysis of spatial 1P5R serial manipulators is proposed. Fourteen kinematic constraint equations for the inverse kinematic analysis are readily obtained by applying the proposed method. A univariate 16th-degree polynomial equation is derived by the linear elimination and Sylvester resultant elimination from the aforementioned fourteen equations. A numerical example and the corresponding 3D configuration based on SolidWorks are provided to verify the correctness. A signficant advantage of the proposed method lies in that 14 inverse kinematic constraint equations can be readily obtained without vector operation and projection operation, and it also provides a new insight for the modeling to the inverse kinematic analysis of other serial manipulators.

Key words: 1P5R serial manipulators, inverse kinematic analysis, double matrix, 4D rotation matrix, Sylvester resultant

CLC Number:

TH112.1

ZHANG Ying, HUANG Qineng, WEI Shimin, LIAO Qizheng. The Inverse Kinematic Analysis of Spatial 1P5R Serial Manipulators Based on The Double Matrix[J]. Journal of Beijing University of Posts and Telecommunications, 2022, 45(1): 33-38.

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The Inverse Kinematic Analysis of Spatial 1P5R Serial Manipulators Based on The Double Matrix

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