An algorithm to solve the inverse kinematics problem of a robotic manipulator based on rotation vectors

This paper presents an algorithm to solve the inverse kinematics problem for a complex wrist structure six degree of freedom (6DOF) robotic manipulator. The last three rotating axes do not intersect at one point and there are off axes in its coordinate frames. The proposed algorithm based on the rotation vector concept, which is also used to describe the orientation of manipulator end-effector. All the possible solutions of the inverse kinematics problem can be obtained by using the proposed algorithm which is tested practically on the MA2000 robotic manipulator.