PUMA机械手逆运动方程求解新方法

A New Scheme for Solving the Inverse Kinematics Equations of PUMA Robot Manipulator

给出PUMA机器人逆运动方程求解的一种新的解析法,推导出直接计算各转角变量正、余弦值的公式,计算出各解的转角量,从而避免对计算结果取值范围的讨论,为机器人的运动优化创造了条件。该求解方法简单,计算速度快,运用计算机仿真分析证明了计算结果的正确。

A new analytic scheme for solving the inverse kinematics equations of PUMA robot manipulator is presented in this paper.The formulas of calculating the sine and cosine of all rotate angle variables were given to obtain each variable directly without judging the range of each variable.This method is simple and significant to optimize the robot motion.The simulation results on AutoCAD show that the algorithm is correct.The method changes the triangulated equations to polynomial equations which could be solved by using Wu wenjun's method.