Inverse kinematics solving method for 6-DOF (degree of freedom) industrial robot

Abstract

The invention provides an inverse kinematics solving method for a 6-DOF (degree of freedom) industrial robot. The method comprises the following steps: establishing a connecting rod coordinate system, wherein the connecting rod coordinate system comprises an X-Z axis plane, coordinate systems corresponding to six joints of the industrial robot and a coordinate system of an end effector of the industrial robot; on the basis of the connecting rod coordinate system, calculating an Euler angle transformation matrix according to structure geometric parameters among the six joints of the industrial robot; sequentially solving rotation shaft rotation angles of the six joints of the industrial robot through the Euler angle transformation matrix according to the preset sequence; and according to the eight solving results corresponding to the rotation shaft rotation angles of the six joints, disintegrating the sum of norms of difference values of the joint rotation shaft rotation angles corresponding to previous joint space places, and selecting an optimal solution according to a norm comprehensive minimum principle. The method has the advantages of being high in solving precision, fast in solving speed, easier to understand in the solving process, and small in calculation amount.

Description

Technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method for solving inverse kinematics of an industrial robot with six degrees of freedom. Background technique [0002] The problem of inverse kinematics of industrial robots is to obtain all joint rotation angle values ​​under the condition of given the position and posture of the end of the actuator relative to the base and all the geometric parameters of the connecting rod, which is the inverse process of forward kinematics. Forward kinematics can obtain the Euler angle transformation matrix T between the front and rear adjacent joints according to the geometric parameters. When the rotation angle θ of each joint is known, the position and posture of the end effector can be obtained by simple operations through the transformation matrix T, and The solution is unique; while the inverse kinematics solution is relatively complicated, and there may be multiple or no ...

AI Technical Summary

Problems solved by technology

[0004] The existing inverse kinematics solution of industrial robots mainly has defects and deficiencies: for robots with special configurations, the general solution method is a single coordinate system modeling method, the solution process is complicated and difficult to understand, the calculation amount is large, and the solution speed is slow

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