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http://dx.doi.org/10.21289/KSIC.2021.24.6.953

Inverse Kinematic Analysis of a 6-DOF Collaborative Robot with Offset Wrist  

Kim, Gi-Seong (Dept. of Mechanical Convergence Engineering, Kyungnam University)
Kim, Han-Sung (Dept. of Mechanical Engineering, Kyungnam University)
Publication Information
Journal of the Korean Society of Industry Convergence / v.24, no.6_2, 2021 , pp. 953-959 More about this Journal
Abstract
In this paper, the numerical inverse kinematics analysis is presented for a collaborative robot with an offset wrist. Robot manipulators with offset wrist are widely used in industrial applications, due to many advantages over those with wrist center and those with three parallel axes such as simple mechanical design, light weight, and so on. There may not exist a closed-form solution for a robot manipulator with offset wrist. A simple numerical method is applied to solve the inverse kinematics with offset wrist. Singularity is analyzed using Jacobian matrix and the numerical inverse kinematics algorithm is implemented on the real-time controller.
Keywords
Offset Wrist; Inverse Kinematics; Jacobian Matrix; Collaborative Robot; Real-Time Calculation;
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