A new method for solving inverse kinematics of an industrial robot
The kinematics model of robot is established based on the specific structure of 6R robot. In consideration of the robot base movement and the actuators replacement, the key problem of robot inverse kinematics is separated and a new simple method for deriving inverse kinematics without complex matrix inversion is developed. Furthermore, by analyzing the procedure of solution, the author optimizes the solution algorithm in favor of programming realization to satisfy the demand of off-line programming and real-time control. Finally, the validity of the solution of forward and inverse kinematics is verified by simulation experiments. And the result can be used on the robot which has similar mechanical configurations.
industrial robot inverse kinematics simulation
Jing HUANG Xianlun WANG Dongsheng LIU Yuxia CUI
College of Electromechanical Engineering Qingdao University of Science and Technology Qingdao, China
国际会议
杭州
英文
53-56
2012-03-23（万方平台首次上网日期，不代表论文的发表时间）