标题：General inverse solution of six-degrees-of-freedom serial robots based on the product of exponentials model
作者：Wang, Haixia; Lu, Xiao; Cui, Wei; Zhang, Zhiguo; Li, Yuxia; Sheng, Chunyang
作者机构：[Wang, Haixia; Lu, Xiao; Cui, Wei; Zhang, Zhiguo; Li, Yuxia; Sheng, Chunyang] Shandong Univ Sci & Technol, Key Lab Robot Intelligent Technol Shandong 更多
通讯作者地址：[Lu, X]Shandong Univ Sci & Technol, Key Lab Robot Intelligent Technol Shandong Prov, Qingdao, Peoples R China.
关键词：Closed-form inverse resolution; Paden-Kahan sub-problem; Product of; exponentials model; Rodrigues rotation formula; Screw theory
摘要：Purpose Developing general closed-form solutions for six-degrees-of-freedom (DOF) serial robots is a significant challenge. This paper thus aims to present a general solution for six-DOF robots based on the product of exponentials model, which adapts to a class of robots satisfying the Pieper criterion with two parallel or intersecting axes among its first three axes.; Design/methodology/approach The proposed solution can be represented as uniform expressions by using geometrical properties and a modified Paden-Kahan sub-problem, which mainly adopts the screw theory.; Findings A simulation and experiments validated the correctness and effectiveness of the proposed method (general resolution for six-DOF robots based on the product of exponentials model).; Originality/value The Rodrigues rotation formula is additionally used to turn the complex problem into a solvable trigonometric function and uniformly express six solutions using two formulas.