Geometric approach for inverse kinematics analysis of 6-Dof serial robot

摘要

The typical serial robot Motoman with six joints, high-speed and wide-workspace, for which inverse module is designed by Denavit-Hartenberg Matrix. According to D-H Parameters, the forward kinematics solution is analyzed and a Geometric Approach is used to the inverse solution. A simulation example through circular interpolation method on vs2013 shows the effectiveness of the proposed approach by comparing the circles before and after the forward/inverse kinematics solution. Finally, this paper analysed the characteristics of this algorithm.