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

Abstract

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.

Analytical inverse kinematics for 5-DOF humanoid manipulator under arbitrarily specified unconstrained orientation of end-effector

“…Although the unconstrained direction is fixed with respect to the environment in several methods, 15,16,17,20 the direction is absolutely fixed, and the user cannot change it. Since the unconstrained direction is dependent on the task and environment, the direction should be variable.…”

“…In the former approach, for example, refs. [15][16][17]20], one of the kinematic equations is neglected, and the remaining five simultaneous equations are solved. However, the derived solution does not satisfy the neglected kinematic equation, if the given set of χ i is kinematically unreachable by the manipulator.…”

“…For the Pioneer 2 arm, several researchers have tackled to obtain closedform solutions and to identify singular configurations. 16,17,18 Wang and Ishimatsu 19 analyzed the kinematics of a 5-DOF prosthetic arm that has a special shoulder mechanism. Wang 20 analytically solved the inverse kinematics of a 5-DOF arm attached to an amusement robot to identify the reachable position and orientation of the arm 1 .…”

Adaptive Fuzzy Modelling and Control for Non-Linear Systems Using Interval Reasoning and Differential Evolution

“…In order to demonstrate the performance of proposed EFLS, the numerical simulations have been carried out on the inverse kinematics modelling of a two-joint robotic arm (Gan et al, 2005). The model of robotic arm is presented in Fig.…”

Full-body performance animation with Sequential Inverse Kinematics

“…Their advantages are their low computational cost and good accuracy compared to other methods and their drawbacks are that they can only be used for low DoF mechanisms and that they are not feasible when the system is ill-posed. Some examples of analytical solutions of multibody mechanisms are the ones proposed by Zoppi [3], Wu et al [4] and Gan et al [5].…”