Kinematic analysis of the 6R serial robot based on double quaternions

A method based on double quaternion theory to solve the inverse kinematics of a 6R robot is addressed in this paper. The kinematics model of a general 6R serial robot is firstly established with double quaternion equations. Then, a 16^th order polynomial equation is obtained via linear and resultant elimination. Finally, the inverse posture of the 6R robot is achieved with the solution of the equation. Experiment results show that the proposed method is correct in solving the inverse posture of a 6R robot and has satisfied performance.