Positional Control of 6-DoF Robot Based on an Optimal Inverse Kinematics

摘要

6-DoF robots are widely used in industry. Positional control of robots is carried out based on solving the inverse kinematics problem using various methods. It is known that for a 6-DoF robot there are many options for solving inverse kinematics. Robot manufacturers are looking to leverage analytics solutions tailored to the robot's configuration. In this case, high calculation speed is ensured, which is necessary for planning trajectories in real time. However, such a solution will not always be optimal. This article explores options for solving inverse kinematics using the KUKA KR6 robot as an example. The forward kinematics are described by the Denavit-Hartenberg method. The inverse kinematics are solved by the iterative method. To assess the effectiveness of the solution, an evaluation indicator is proposed in the form of the sum of increments of the angles of the links. Two examples were considered with initial data from the KUKA KR6 R700 robot. The simulations carried out for these examples found that a variety of solution options correspond to a wide range of the 4–5 score. It was revealed that the analytical solution of inverse kinematics does not correspond to the minimum value of the indicator.