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A complete analytical solution to the inverse kinematics of the Pioneer 2 robotic arm

Published online by Cambridge University Press:  12 January 2005

John Q. Gan ,
Eimei Oyama ,
Eric M. Rosales  and
Huosheng Hu
John Q. Gan
Affiliation:
Department of Computer Science, University of Essex, Colchester CO4 3SQ (UK) jqgan@essex.ac.uk, emrosa@essex.ac.uk, hhu@essex.ac.uk
Eimei Oyama
Affiliation:
Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Science City, Ibaraki, 305-8564 (JAPAN) eimei.oyama@aist.go.jp
Eric M. Rosales
Affiliation:
Department of Computer Science, University of Essex, Colchester CO4 3SQ (UK) jqgan@essex.ac.uk, emrosa@essex.ac.uk, hhu@essex.ac.uk
Huosheng Hu
Affiliation:
Department of Computer Science, University of Essex, Colchester CO4 3SQ (UK) jqgan@essex.ac.uk, emrosa@essex.ac.uk, hhu@essex.ac.uk
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Abstract

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For robotic manipulators that are redundant or with high degrees of freedom (dof), an analytical solution to the inverse kinematics is very difficult or impossible. Pioneer 2 robotic arm (P2Arm) is a recently developed and widely used 5-dof manipulator. There is no effective solution to its inverse kinematics to date. This paper presents a first complete analytical solution to the inverse kinematics of the P2Arm, which makes it possible to control the arm to any reachable position in an unstructured environment. The strategies developed in this paper could also be useful for solving the inverse kinematics problem of other types of robotic arms.

Keywords

Inverse kinematicsManipulator controlModelling and controlRobotic arm
Type
Research Article
Information
Robotica , Volume 23 , Issue 1 , January 2005 , pp. 123 - 129
Copyright
2005 Cambridge University Press