Research and Improvement of Kinematics Algorithm of Industrial Robot based on the D-H Coordinate System

摘要

Owing to the intensive computation of kinematics module in the real-time control of the industrial robot, this paper sets the six-joint industrial robot as research object and establishes forward and inverse kinematics equations based on the D-H coordinate system. Thenan algorithm of searching the proper inverse kinematic solutions was presented based on the characteristics of the solutions and the geometric structure of the robot. The proposed algorithm control position and orientation comprehensively in the Cartesian coordinate space and gives speed-related Jacobian matrix. The algorithm is simulated on the MATLB and applied to a 6R manipulator in the laboratory to verify the effectiveness. The results indicate that the algorithm can make the robotic joints move smoothly, avoid mutation and have a higher accuracy and running stability.