Improvement of kinematics algorithm of 6R industrial robot

摘要

Aiming at the intensive computation of kinematics module exist in the real-time control of the industrial robot,inverse kinematic solutions of vertical-six-joint industrial robot were calculated and analyzed.Then,an algorithm of searching the proper inverse kinematic solution was presented based on the characteristics of the solutions and the geometric structure of the robot.After that,the curve interpolation algorithm in cartesian coordinates was discussed.In order to make the robot easier to be used,the arbitrary user coordinates was built and the gesture rotation representation was presented.The algorithms were applied to a 6R manipulator in the laboratory to verify the effectiveness of the proposed algorithms.The results indicate that the algorithm can make the robotic joints move smoothly and avoid mutation when the robot is running,especially in the process of curve interpolation.The algorithms can make the motion of robot smoother and more accurate.