Inverse Kinematics Algorithm of 6-DOF Robots based on Geometric Method and Screw Theory

Lu Zhe; Zheng Song

doi:10.16578/j.issn.1004.2539.2017.06.020

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Inverse Kinematics Algorithm of 6-DOF Robots based on Geometric Method and Screw Theory

更新时间：2022-10-20

- Inverse Kinematics Algorithm of 6-DOF Robots based on Geometric Method and Screw Theory
- Vol. 41, Issue 6, Pages: 111-114(2017)
- 作者机构：
  
  1. 福州大学电气工程与自动化学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2017.06.020
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[1]卢喆,郑松.基于几何法和旋量理论的6自由度机器人逆解算法[J].机械传动,2017,41(06):111-114.

Lu Zhe, Zheng Song. Inverse Kinematics Algorithm of 6-DOF Robots based on Geometric Method and Screw Theory. [J]. 41(6):111-114(2017)
[1]卢喆,郑松.基于几何法和旋量理论的6自由度机器人逆解算法[J].机械传动,2017,41(06):111-114. DOI： 10.16578/j.issn.1004.2539.2017.06.020.

Lu Zhe, Zheng Song. Inverse Kinematics Algorithm of 6-DOF Robots based on Geometric Method and Screw Theory. [J]. 41(6):111-114(2017) DOI： 10.16578/j.issn.1004.2539.2017.06.020.

摘要

针对6自由度串联机器人运动学逆解求解过程复杂、几何意义不明确的问题,提出一种基于几何法和旋量理论相结合的求解方法。基于旋量理论建立机器人的运动学模型,其运动学逆解常采用Paden-Kahan子问题加以求解,但针对前3个关节轴线均不相交的机器人,难以用现有的子问题进行求解。因此,采用一种几何解法进行前3个关节角度的求解。针对后3个关节轴线相交于一点的问题,采用Paden-Kahan子问题进行求解,最终推导出此类机器人运动学逆解的封闭解。以ABB1410机器人为例进行算法验证,验证了此算法的有效性和可行性。

Abstract

Aiming at the problems of complex process and the unclear geometric meaning in solving the inverse kinematics of 6-DOF serial robot,a solving method based on combined geometric method and screw theory method is proposed. The kinematics model of the robot is established based on screw theory,and Paden-Kahan sub-problem method is often used to solve the inverse kinematics problem. However,for the robot whose first three axes are not intersecting at one point,it is difficult to apply the existing sub-problem to solve.Therefore,a geometric method is used to solve the value of the first three joint angles,and for the robot with the last three joint axes intersecting at one point,by using the Paden-Kahan sub-problem method,a closed-form solution of the inverse kinematics of the robot is derived. The effectiveness of the algorithm is verified by ABB1410 robot.

关键词

机器人旋量理论几何法Paden-Kahan子问题运动学逆解

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