六自由度解耦机械臂的逆运动学通解

General Solution of Inverse Kinematics of Six Degree-of-freedom Decoupling Manipulator

为求解六自由度解耦机械臂逆运动学通解,提出一种基于欧几里得范数的位姿分解逆运动学求解方法。先推导前3个关节角的解析解,快速、准确的获取机械臂的腕心位置;再利用已知的执行器姿态,计算后3个关节角,经六自由度机械臂的正逆运动学仿真互验,验证了方法的有效性。

In order to solve the general solution of inverse kinematics of the six degree-of-freedom( 6 DOF) decoupling manipulator,a decomposed position-orientation method based on Euclid Norm was presented. Firstly,the analytical solution of first three joint angles was deduced to calculate the wrist position of manipulator quickly and precisely. Secondly,the last three joint angles were solved by known executor's orientation. By the inverse kinematic simulative simulation of the 6 DOF manipulator,the effectiveness of method was verified.