As an efficient auxiliary tool for disaster rescue

the task of collect information and transport the emergency suppliers can be completed by rescue robot with the help of its manipulator and sensor in the disaster environment.A six-DOF rescue robot manipulator is designed.By combining the fixed joint method and the gradient projection method

an optimization method for calculating the inverse kinematics of the manipulator is proposed.And the trajectory tracking simulation analysis is carried out.The computing efficiency and trajectory tracking precision can be greatly enhanced by this method.