Optimal Design of Industrial Robot Kinematics Algorithm

摘要

Abstract According to the singularity problem in the working space of industrial robot, the reachability of robot is judged from the view of equation solution. Based on this, the optimal selection algorithm of multiple solutions of inverse solution has been given.PUMA560 industrial robot is the study object, the parameters of its mechanism and linkage are analyzed, and the forward kinematics and inverse kinematics of the robot are studied by D-H method. In the MATLAB environment, the robotics toolbox for modeling and simulation has been used, the simulation results show that the forward and inverse kinematics model is reasonable and correct. It lays a solid foundation for the follow-up research and development of robot.