Research on Kinematic Inverse Optimization and Its Working Space of 6-DOF Industry Robot

摘要

In order to achieve precise control of 6-DOF industry robots,this paper carried out inverse kinematics analysis and working space simulation.Kinematic and reverse kinematic analysis can be got according to the D-H kinematic model of robot.Meanwhile,the robot systems can get proper reverse kinematic basing on the principle of the shortest itinerary.Numerical solution of industry robot based on Matlab is applied to the solution and simulation of working space of industry robot.The results show that it is extremely effective.