基于回转变换张量法的6R机器人的运动学逆解分析

The Inverse Kinematics Analysis of Six-degree-of-freedom Robot Based on Rotation-yransformation-yensor Method

运用回转变换张量法,求解了三个腕关节轴线相交于一点的6自由度喷涂机器人的运动学逆解,并利用消元法简化了运动学逆解的求解过程,得出了较为简易的解析解。利用Matlab软件编写了机器人的逆解计算程序,并进行实例计算,不仅证明了运动学逆解的正确性,也为后续研究奠定了基础。

Using the Rotation-transformation-tensor Method to analyze the inverse kinematics of Six-degree-of-freedom Robot whose three wrist axes intersect at one point.Using Elimination Method to simplify the inverse kinematics solving process and get a relatively simple analytic solution.Using Matlab software to compile the inverse kinematics program for the robot,and accomplish sample calculating,which not only prove the correctness of the inverse kinematics algorithm based on Rotation-transformation-tensor Method,but also build the foundation for future research.