Innovative inverse kinematics algorithm for 6-DOF robotic manipulators with offset wrists.

ABSTRACT: This paper presents a novel numerical algorithm for inverse kinematics (IK) in robotic arms with offset wrists to address the challenges in IK solutions caused by biased parameters. Initially, the problem is simplified by categorizing robotic arms into two standard types and applying rotation or translation transformations to the terminal link. This approach is used for a robotic arm with a biased wrist, allowing for the acquisition of joint angles that approximate the desired solution. Subsequently, the initial Hessian matrix is corrected by incorporating the Jacobian matrix and regularization terms. Furthermore, the step size of the scaled memoryless augmented Broyden-Fletcher-Goldfarb-Shanno (SMABFGS) algorithm is dynamically adjusted to avoid convergence to local optima by integrating

SUBMITTER: Zhang C 

PROVIDER: S-EPMC12511337 | biostudies-literature | 2025 Oct

REPOSITORIES: biostudies-literature