Kinematics Inverse Solution and Optimization of 6DOF Welding Robot with MATLAB

摘要

Usually there are more than one inverse solutions to kinematics equation of general industrial robot,while the robot control-system will only use one optimized solution as the optimal solution to drive the robot,so the kinematics inverse solutions should be optimized and chosen.Due to the complexity of the inverse solution and based on the analysis of the welding robot's positive and inverse kinematics solution,a method that use the MATLAB GUI programming to solve the inverse solution and the shortest stroke principle to automatic search for the optimal solution of the robot is proposed.Compared with other methods,this method is simple and clear,and the computing speed is fast.Finally two group of calculating examples are given to verify the correctness of the result calculated with this method.