Abstract
Inverse kinematic control of industrial robotic manipulators is extensively used, for this reason it is necessary to improve current direct and inverse kinematic solutions. While some previous solutions present partial sets of equations and others have some inconsistencies, this study presents the complete derivation of an alternative set of equations for the inverse kinematic solution for Universal Robots robotic arms, particularly the UR5. The herein inverse kinematic solution is obtained by applying the conventional Denavit-Hartenberg algebraic method and is validated with the direct kinematic solution.
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This work was supported by the Consejo Nacional de Ciencia y TecnologÃa (CONACYT, Mexico).
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Villalobos, J., Sanchez, I.Y., Martell, F. (2022). Alternative Inverse Kinematic Solution of the UR5 Robotic Arm. In: Moreno, H.A., Carrera, I.G., RamÃrez-Mendoza, R.A., Baca, J., Banfield, I.A. (eds) Advances in Automation and Robotics Research. LACAR 2021. Lecture Notes in Networks and Systems, vol 347. Springer, Cham. https://doi.org/10.1007/978-3-030-90033-5_22
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DOI: https://doi.org/10.1007/978-3-030-90033-5_22
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