Research on Inverse Kinematics of Robot Based on Motion Controller

摘要

Based on kinematics principle, combined with trigonometric function and geometry, an inverse kinematics analysis algorithm for two-degree-of-freedom (SCARA) robot structure is derived, which is tested and verified by PMAC multi-axis motion controller. The test results show that the analytical algorithm can effectively realize the inverse kinematics solution of the robot mechanism, and user can accomplish corresponding trajectory motion by programming the robot end actuator coordinate position. The robot control system based on motion controller proposed in this paper can meet the requirements of robot system openness in robot teaching and scientific research. The analytical process and method of inverse kinematics studied in this paper can be flexibly extended to the motion control of other kinds of robots.