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Inverse Kinematics Analysis of a 6-DOF Manipulator Using Spherical Geometry Method

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Abstract

A 6-DOF cooperative manipulator is used for human spinal deformity detection. In order to ensure the scanning quality of spinal deformity and improve the solution rate and speed of inverse motion solution of the manipulator, an inverse kinematics analytical method based on spherical geometry is proposed in this paper. We take the AUBO-i5 collaborative manipulator as the research object, which combines the rapidity of analytical solution with the flexibility of spherical solution. In the Robot Operating System, the simulation experiment solves the inverse kinematics of 10 000 sets of randomly generated postures. The success rate and time-consuming of the solution are calculated. Compared with the two commonly used inverse kinematics solving algorithms, TRAC-IK and KDL, this method has obvious advantages in terms of success rate and average time-consuming.

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Authors and Affiliations

  1. School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo, Henan, 454002, China

    Qunpo Liu  (刘群坡), Guanghui Liu  (刘广辉), Haixing Wang  (王海星) & Jianjun Zhang  (张建军)

  2. School of Automation, Southeast University, Nanjing, 211189, China

    Shumin Fei  (费树岷)

  3. Henan International Joint Laboratory of Direct Drive and Control of Intelligent Equipment, Henan Polytechnic University, Jiaozuo, Henan, 454002, China

    Qunpo Liu  (刘群坡), Shumin Fei  (费树岷) & Jianjun Zhang  (张建军)

Authors
  1. Qunpo Liu  (刘群坡)
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  2. Guanghui Liu  (刘广辉)
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  3. Shumin Fei  (费树岷)
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  4. Haixing Wang  (王海星)
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  5. Jianjun Zhang  (张建军)
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Corresponding author

Correspondence to Guanghui Liu  (刘广辉).

Additional information

Foundation item: the National Key Research and Development Program (No. 2016YFC0600906), the Science and Technology Innovation Team of Colleges and Universities in Henan Province (No. 20IRTSTHN019), the Innovative Science and Technology Talents Team Construction Project of Henan Province (No. CXTD2016054), and the Science and Technology Project of Henan Province (No. 172102210270)

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Liu, Q., Liu, G., Fei, S. et al. Inverse Kinematics Analysis of a 6-DOF Manipulator Using Spherical Geometry Method. J. Shanghai Jiaotong Univ. (Sci.) 27, 680–687 (2022). https://doi.org/10.1007/s12204-022-2425-6

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  • DOI: https://doi.org/10.1007/s12204-022-2425-6

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