Developing general closed-form solutions for six-degrees-of-freedom (DOF) serial robots is a significant challenge. This paper thus aims to present a general solution for six-DOF robots based on the product of exponentials model, which adapts to a class of robots satisfying the Pieper criterion with two parallel or intersecting axes among its first three axes.
The proposed solution can be represented as uniform expressions by using geometrical properties and a modified Paden–Kahan sub-problem, which mainly adopts the screw theory.
A simulation and experiments validated the correctness and effectiveness of the proposed method (general resolution for six-DOF robots based on the product of exponentials model).
The Rodrigues rotation formula is additionally used to turn the complex problem into a solvable trigonometric function and uniformly express six solutions using two formulas.
