A DH-parameter based condition for 3R orthogonal manipulators to have 4 distinct inverse kinematic solutions

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dc.creatorWenger, Philippe
dc.creatorChablat, Damien
dc.creatorBaili, Maher
dc.date2007-09-04
dc.date.accessioned2026-07-07T08:27:29Z
dc.date.available2026-07-07T08:27:29Z
dc.descriptionPositioning 3R manipulators may have two or four inverse kinematic solutions (IKS). This paper derives a necessary and sufficient condition for 3R positioning manipulators with orthogonal joint axes to have four distinct IKS. We show that the transition between manipulators with 2 and 4 IKS is defined by the set of manipulators with a quadruple root of their inverse kinematics. The resulting condition is explicit and states that the last link length of the manipulator must be greater than a quantity that depends on three of its remaining DH-parameters. This result is of interest for the design of new manipulators.
dc.identifierhttps://arxiv.org/abs/0709.0409
dc.identifierhttp://arxiv.org/abs/0709.0409
dc.identifierJournal of Mechanical Design 127 (2005) 150-155
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/137286
dc.subjectRobotics
dc.titleA DH-parameter based condition for 3R orthogonal manipulators to have 4 distinct inverse kinematic solutions
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