基于Groebner基法的一般串联6R机器人机构逆运动学分析

Inverse Kinematic Analysis of the General 6R Serial Robot Mechanism Based on Groebner Basis

基于Groebner基法,仅用Duffy的含3个未知变元的4个运动学方程,附加3个正余弦恒等式,不增加其他几何约束方程,对一般6R机器人机构逆运动学进行符号解分析,并得出一般串联6R机器人机构逆解最多为16解的结论.本文使用的数学机械化方法可推广到涉及非线性代数方程组的其他机构学问题的求解.

Based on Groebner Basis method and using only Duffy's four kinematical equations containing three variables, this paper solves the inverse kinematics problem of general 6R serial robot mechanism and concludes that the number of solution is sixteen, generally. The mathematical mechanization method can be extended to solve other mechanism problems involving nonlinear equations symbolically.