For the myCobot 280 arm, trajectories along line segments with fixed orientation are planned by solving inverse kinematics at sampled points, and the optimal sequence of joint configurations is found by Dijkstra's algorithm over a graph of IK solutions.
Inverse Kinematics for a 6-Degree-of-Freedom Robot Manipulator Using Comprehensive Gr\"obner Systems
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abstract
We propose an effective method for solving the inverse kinematic problem of a specific model of 6-degree-of-freedom (6-DOF) robot manipulator using computer algebra. It is known that when the rotation axes of three consecutive rotational joints of a manipulator intersect at a single point, the inverse kinematics problem can be divided into determining position and orientation. We extend this method to more general manipulators in which the rotational axes of two consecutive joints intersect. This extension broadens the class of 6-DOF manipulators for which the inverse kinematics problem can be solved, and is expected to enable more efficient solutions. The inverse kinematic problem is solved using the Comprehensive Gr\"obner System (CGS) with joint parameters of the robot appearing as parameters in the coefficients to prevent repetitive calculations of the Gr\"obner bases. The effectiveness of the proposed method is shown by experiments.
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An Effective Trajectory Planning and an Optimized Path Planning for a 6-Degree-of-Freedom Robot Manipulator
For the myCobot 280 arm, trajectories along line segments with fixed orientation are planned by solving inverse kinematics at sampled points, and the optimal sequence of joint configurations is found by Dijkstra's algorithm over a graph of IK solutions.