A Strong Real Time Algorithm for Inverse Kinematics of 6R Robots
Different from the traditional method, we propose a novel algorithm based on vector dot product and orthogonal matrix for inverse kinematics of 6R robots, which features in strong real time performance and no extraneous roots in the solving process. By using the character that the rotation sub-matrix is an orthogonal matrix, the complex solution procedures of inverse matrix are avoided. Then the kinematics equations containing 6 unknown joint angle variables can be reconstructed to 10 pure algebraic equations by vector dot product. Particularly, aiming to improve the real time performance further, we optimized the linear combinations of the related equations for the 5th and 6th joint angle variables. Also, we utilize MAPLE in symbolic operations to increase the accuracy of solutions. Finally, experiments on a 6R robot are implemented, which show that, the proposed algorithm can solve the equations in an average time of only 9.936 us, and makes a good performance in the practical strong real time motion control situation.
6R robot Inverse kinematics Real time control Vector dot product Orthogonal matrix
Huashan Liu Shiqiang Zhu Jianbo Wu
The State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, China
国际会议
杭州
英文
359-362
2009-04-08（万方平台首次上网日期，不代表论文的发表时间）