Synthesis of Control Algorithm for Position of Six–Axis Manipulator
The paper formulates the inverse kinematic problem for the robotic manipulator with six degrees of freedom. For the solution if this problem, the geometric method combined with the Denavit–Hartenberg transformation was applied. The Denavit–Hartenberg method offers the advantage of reducing the number of coordinates that determine the special position of the solid body from six to four. This method provides for an accurate positioning of the working tool. The inverse kinematic problem was solved. This problem aims at calculating the rotating angle of each axis.