几何的6R串联型焊接机器人运动学逆解算法

Algorithm for the Inverse Kinematics Calculation of 6-DOF Serial Welding Robots Based on Geometry

对满足后三个关节轴线相交于一点的6R串联型焊接机器人,最多具有8组封闭逆解,而其求解方法很多。几何算法求解过程直观简单,几何意义明确,但目前相关文献中的几何算法大都不完整,基本是前三个旋转角度用几何算法,后三个旋转角度用其它方法。依据焊接机器人的实际工况,将机器人2、3连杆的位形和的正负相组合,把运动学逆解分成四类,每类具有明确的几何意义,用几何的方法求解各类对应的关节角度,得到4组封闭解,简化了复杂的轨迹规划。通过对OTC-NB4焊接机器人的实例求解,验证了算法的正确性和具有非常高的精度。

The kinematics model of the robot with 6-DOF serial welding and with the last three joint axes intersecting to one point, with a maximum of eight groups of inverse closed, there are many ways to solve, the solving process of Geometric algorithms is intuitive and simple, and the meaning of geometric is clear, but now the literature of geometric algorithms is not complete. Basically the first three rotation angle uses geometric algorithm, and the last three rotation angle uses another Algorithms. Based on the actual working conditions of welding robot, combined with the shape and position of 2, 3-link with the positive and negative of , the inverse kinematics solution is divided into four categories, so each category has a clear geometric meaning, using geometric method to solve all kinds of corresponding joint angle, then four groups of closed-form solutions can be gained, simplifing the complex trajectory planning. The correctness and very high accuracy of the algorithm is verified by OTC-NB4 welding robot.