Inverse kinematics solution for 5-DOF industrial robot with non-spherical wrist

Detailed kinematics analysis of a 5-DOF robotic arm (RPRRR) without spherical wrist using nonlinear optimization for inverse kinematics subjected to joint constraints.

The methodology and background of the methods are described in depth in the attached report.

The proposed inverse kinematics solution exhibits very promising results.

Arm Geometry

Denavit-Hartenberg parameters

i	θ	d	a	α
9	θ9	0 mm	0 mm	90 deg
10	90 deg	d10	0 mm	0 deg
11	θ11	0 mm	0 mm	-90 deg
12	θ12	0 mm	10 mm	-90 deg
13	θ13	0 mm	8 mm	-90 deg

Robot Workspace (under joint constraints)

Desired TCP Trajectory

Inverse Kinematics Solution (joint space)

Inverse Kinematics Solution (world frame)

Cubic Splines Interpolation in Joint Space

Resulting Tool Trajectory