| Affiliation: | (1) Department of Computer Science, University of Essex, Colchester, CO4 3SQ, UK;(2) The Key Laboratory of Complex System and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing, 100080, China |
| Abstract: | 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 systemically. 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. |
