6R industrial robot inverse kinematics solving method

Abstract

The invention discloses a 6R industrial robot inverse kinematics solving method. The method comprises the following steps that a 6R robot geometric simplification model and a D-H table are established; according to the geometric simplification model, a function relational expression between a joint angle of a first joint and spatial coordinates of the origin of a tail end connecting rod coordinatesystem are established; under the condition that the joint angle of the first joint is determined, the spatial position relation of a second connecting rod and a third connecting rod is simplified into a triangle, and a function relational expression of joint angles of the second joint and the third joint is established; under the condition that the joint angles of the first joint, the second joint, the third joint and the fourth joint are determined, z-axis direction vectors of a fourth connecting rod coordinate system, a fifth connecting rod coordinate system and a sixth connecting rod coordinate system are used for establishing a space geometric model with the joint axis of the fifth joint as the center axis, and a joint angle function relational expression of the fifth joint is established firstly through the space geometric model; and then a function relational expression of the joint angles of the fourth joint and the sixth joint is established. According to the 6R industrial robot inverse kinematics solving method, the efficiency and attitude precision of the robot inverse solution method are improved.

Description

technical field [0001] The invention relates to the field of inverse kinematics of industrial robots, in particular to a method for solving the inverse kinematics of 6R industrial robots. Background technique [0002] At present, industrial robot kinematics is one of the important research directions of robotics. It has a great influence on robot control, robot dynamics and trajectory planning, and is the basis for studying robot dynamics and trajectory planning. It describes and studies machines from a geometric or mechanical perspective. Human motion characteristics, regardless of the force or moment that causes these motions, are divided into forward kinematics and inverse kinematics. Forward kinematics is to find the position and attitude of the end effector of the robot relative to the reference coordinate system for a given robot with known geometric parameters of the connecting rod and joint variables. Inverse kinematics is to solve the robot joint variables that ca...

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Problems solved by technology

[0003] At present, the commonly used robot kinematics methods are mainly analytical method and numerical method. Analytical method, such as matrix method, needs to establish a corresponding coordinate system on each joint, establish a forward kinematics model by coordinate transformation, and solve it in inverse kinematics. In general, the inverse transformation matrix method is usually used, the solution process is complicated, the result is relatively cumbersome, and the efficiency is relatively low

The numerical solution method directly solves the constraint equations, and the real number solution of any mechanism can be obtained through iterative operations, but usually not all solutions can be obtained. Generally speaking, the selection of the initial value and the search algorithm have a great influence on the convergence and precision

The geometric inverse solution method has been studied by some scholars, and it has certain limitations for certain structures.

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