@article{(Open Science Index):https://publications.waset.org/pdf/8220, title = {An Iterative Algorithm for Inverse Kinematics of 5-DOF Manipulator with Offset Wrist}, author = {Juyi Park and Jung-Min Kim and Hee-Hwan Park and Jin-Wook Kim and Gye-Hyung Kang and Soo-Ho Kim}, country = {}, institution = {}, abstract = {This paper presents an iterative algorithm to find a inverse kinematic solution of 5-DOF robot. The algorithm is to minimize the iteration number. Since the 5-DOF robot cannot give full orientation of tool. Only z-direction of tool is satisfied while rotation of tool is determined by kinematic constraint. This work therefore described how to specify the tool direction and let the tool rotation free. The simulation results show that this algorithm effectively worked. Using the proposed iteration algorithm, error due to inverse kinematics converged to zero rapidly in 5 iterations. This algorithm was applied in real welding robot and verified through various practical works.}, journal = {International Journal of Industrial and Manufacturing Engineering}, volume = {6}, number = {12}, year = {2012}, pages = {2649 - 2654}, ee = {https://publications.waset.org/pdf/8220}, url = {https://publications.waset.org/vol/72}, bibsource = {https://publications.waset.org/}, issn = {eISSN: 1307-6892}, publisher = {World Academy of Science, Engineering and Technology}, index = {Open Science Index 72, 2012}, }