Solvable Criteria and Sequential Solution Method for the General 6R Inverse Kinematics Problem

The inverse kinematics solution for a general 6R manipulator has been a notable problem in the robotics field. Previous work has derived sixteenth-degree univariate polynomials for solving each individual joint variable in the general 6R case. We develop a novel criteria for the evaluation of the solvability of different 6R joint structures based on joint-angle superposition. A method for the sequential solving of joint variables in 6R robots with possible inverse solutions is then introduced. The proposed method can be easily and reliably applied for the analysis of 6R robots.