Kinematics of trunk-like robots using D-H homogeneous transformation

Abstract

This paper presents the investigation of direct and inverse kinematics for piezo robot with spherical joints. Firstly two different kinds of actions of spherical piezo actuators are introduced including the approaches of defining direct kinematics. Several methods to solve inverse kinematics were analyzed. Geometric approach is chosen for solving inverse kinematics because it has a lot of advantages in accordance to other methods. Theory for defining the solution of the inverse kinematics using global projections of robot links is presented. A concise algorithm using proposed approach for the solution of the inverse kinematics is shown.