An analysis of the inverse kinematics for a 5-DOF manipulator

  • De XuEmail author
  • Carlos A. Acosta Calderon
  • John Q. Gan
  • Huosheng Hu
  • Min Tan


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 systematically. The singular problem is discussed after the forward kinematics is provided. For any given reachable position and orientation of the end-effector, the derived inverse kinematics will provide an accurate solution. In other words, there exists no singular problem for the 5-DOF manipulator, which has wide application areas such as welding, spraying, and painting. Experiment results verify the effectiveness of the methods developed in this paper.


Inverse kinematics modeling and control 5-DOF manipulator 


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Copyright information

© Institute of Automation, Chinese Academy of Sciences 2005

Authors and Affiliations

  • De Xu
    • 1
    • 2
    Email author
  • Carlos A. Acosta Calderon
    • 1
  • John Q. Gan
    • 1
  • Huosheng Hu
    • 1
  • Min Tan
    • 2
  1. 1.Department of Computer ScienceUniversity of EssexColchesterUK
  2. 2.The Key Laboratory of Complex System and Intelligence Science, Institute of AutomationChinese Academy of SciencesBeijingChina

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