Inverse Kinematics for a 6-Degree-of-Freedom Robot Manipulator Using Comprehensive Gröbner Systems
Fuente:
arXiv
Salvato in:
| Autori principali: | , , |
|---|---|
| Natura: | Preprint |
| Pubblicazione: |
2025
|
| Soggetti: | |
| Accesso online: | |
| Tags: |
Aggiungi Tag
Nessun Tag, puoi essere il primo ad aggiungerne!!
|
| _version_ | 1866911140308582400 |
|---|---|
| author | Okazaki, Takumu Terui, Akira Mikawa, Masahiko |
| author_facet | Okazaki, Takumu Terui, Akira Mikawa, Masahiko |
| contents | We propose an effective method for solving the inverse kinematic problem of a specific model of 6-degree-of-freedom (6-DOF) robot manipulator using computer algebra. It is known that when the rotation axes of three consecutive rotational joints of a manipulator intersect at a single point, the inverse kinematics problem can be divided into determining position and orientation. We extend this method to more general manipulators in which the rotational axes of two consecutive joints intersect. This extension broadens the class of 6-DOF manipulators for which the inverse kinematics problem can be solved, and is expected to enable more efficient solutions. The inverse kinematic problem is solved using the Comprehensive Gröbner System (CGS) with joint parameters of the robot appearing as parameters in the coefficients to prevent repetitive calculations of the Gröbner bases. The effectiveness of the proposed method is shown by experiments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_00823 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Inverse Kinematics for a 6-Degree-of-Freedom Robot Manipulator Using Comprehensive Gröbner Systems Okazaki, Takumu Terui, Akira Mikawa, Masahiko Robotics Symbolic Computation Commutative Algebra 68W30, 13P10, 13P25 We propose an effective method for solving the inverse kinematic problem of a specific model of 6-degree-of-freedom (6-DOF) robot manipulator using computer algebra. It is known that when the rotation axes of three consecutive rotational joints of a manipulator intersect at a single point, the inverse kinematics problem can be divided into determining position and orientation. We extend this method to more general manipulators in which the rotational axes of two consecutive joints intersect. This extension broadens the class of 6-DOF manipulators for which the inverse kinematics problem can be solved, and is expected to enable more efficient solutions. The inverse kinematic problem is solved using the Comprehensive Gröbner System (CGS) with joint parameters of the robot appearing as parameters in the coefficients to prevent repetitive calculations of the Gröbner bases. The effectiveness of the proposed method is shown by experiments. |
| title | Inverse Kinematics for a 6-Degree-of-Freedom Robot Manipulator Using Comprehensive Gröbner Systems |
| topic | Robotics Symbolic Computation Commutative Algebra 68W30, 13P10, 13P25 |
| url | https://arxiv.org/abs/2509.00823 |