A Geometric Approach for the IK of 6R robots with non-spherical wrist
Résumé
The inverse kinematic (IK) solution is of great importance for advanced IK control of serial robotic arms. In some cases, computing these solutions is very challenging. It is the case of the CRX cobot by Fanuc, for which no literal IKM is available. This work presents a complete IK calculation approach for 6R robotic manipulators, that we called "MAGIK". Regarding the Direct Kinematic (DK) model, it was developed based on the Denavit-Hartenberg formalism. The MAGIK approach was first developed to compute IK solutions of the FANUC cobot CRX series. We then used the same method to establish the IK model of UR3 cobot by Universal Robots, in order to ensure MAGIK's robustness to various kinematic architectures. For a specific pose of the robot, different IK solutions are obtained (up to 8 for UR3 and to 16 for CRX-10iA). This approach helps then to establish not only the exact number of IK solutions in each area of the workspace, but also the different angle solution sets. The results analysis enables better understanding of how the kinematic architecture of the robot, especially the wrist (but not only), impact the number of IK solutions.
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