A 6r industrial robot inverse kinematics solution method

Abstract

A method for solving inverse kinematics of a 6R industrial robot of the present invention, the method is: establish a simplified geometric model of a 6R robot and a D-H table; according to the simplified geometric model, establish the space between the joint angle of the first joint and the origin of the end link coordinate system The functional relationship between the coordinates; under the condition that the joint angle of the first joint has been determined, the spatial position relationship of the second link and the third link is simplified into a triangle, and the functional relationship of the joint angle of the second and third joints is established ; Under the condition that the joint angles of the first to third joints have been determined, the z-axis direction vectors of the fourth, fifth, and sixth link coordinate systems are used to establish a spatial geometric model with the joint axis of the fifth joint as the central axis, From the space geometry model, the joint angle function relational expression of the fifth joint is established first; then the joint angle functional relational expressions of the fourth and sixth joints are established. The invention improves the efficiency and attitude precision of the inverse solution method of the robot.

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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