Kinematics Analysis of Generalized SRU Manipulator Based on Screw Theory

Generalized SRU manipulator is commonly utilized in many robots as a functional module. By using POE formula based on screw theory, the kinematic analysis of generalized SRU manipulator was performed, and the verification paradigm was given. Firstly, the forward kinematics of the manipulator was analyzed by using POE formula, and the terminal pose corresponding to the given joint angles was derived. Secondly, the inverse kinematics of the manipulator was analyzed by combining three known P-K sub-problems and a novel sub-problem of 3 axes orthogonal to a point, and 8 groups of possible inverse solutions corresponding to the given terminal pose were derived. Finally, a humanoid arm with the configuration of generalized SRU was taken as the paradigm to validate the correctness of the analytical formula. The results showed that correct, complete and high precision solutions were obtained according to the formula given in this article. The conclusions provided a significant reference to the trajectory planning and real-time control of generalized SRU manipulator.