6R机器人笛卡尔空间轨迹规划中的逆运动学

Inverse Kinematics in Cartesian Space Path Planning of General 6R Serial Robot

在一般6R机器人D-H模型的基础上,研究了机器人笛卡尔空间轨迹规划中的逆运动学求解方法。依据机器人逆运动学求解的代数法,推导了六个关节变量的求解公式。根据"最短行程"原则和双变量反正切函数的特殊性,对逆运动学应用于笛卡尔空间轨迹规划算法中的最优解的求解给出了合适的优化原则。以笛卡尔空间直线插补为例验证了该算法,并成功运用于某型号工业机器人控制器。

Method of inverse kinematics in Cartesian space path planning of robot is researched based on the D-H model of general 6R robot.First of all,according to algebraic solution of inverse kinematics,solving formula of six joint variables is calculated.Then,the optimization principle of optimum solution for inverse kinematics in Cartesian space path planning is given based on the shortest path principle and the particularity of two-argument arc tangent function.Finally,the inverse kinematics algorithm is verified in Cartesian space interpolation,and is applied in an industrial robot controller.