摘要：This paper presents the investigation of direct and inverse kinematics for piezo robot with spherical joints.Two different actions of spherical piezo actuators are introduced.Several methods to solve inverse kinematics were analyzed.Geometric approach is chosen for solving inverse kinematics because it has a lot of advantages in accordance to other methods.Theory for defining the solution of the inverse kinematics using the global projections of robot links is presented.A concise algorithm using a proposed approach for the solution of the inverse kinematics is shown.
