This paper proposes a distance-based formulation to solve the inverse kinematics of what is known as the generalized Lobster’s arm: a 6R serial chain in which all consecutive revolute axes intersect. Since the solution of the inverse kinematics of a general 6R serial chain comes down to finding the roots of a 16th-degree polynomial, one might think that this polynomial also contains the solutions to the inverse kinematics of 6R serial chains with special geometric parameters as a mere particular case. Nevertheless, under certain geometric circumstances various problems can appear. Some are of numerical nature, but others are fundamental problems of the used method. For that reason, it is still useful to study 6R chains with special geometric parameters, especially when the new formulation leads to a simpler solution, gives new insights, and provides new connections with other problems, as is the case in this paper.
The Distance Geometry of the Generalized Lobster’s Arm
Springer Proceedings in Advanced Robotics
International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022
2022-06-18
9 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
The Distance Geometry of the Generalized Lobster’s Arm
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