The Inverse Kinematics Analysis of Six-DOF Robots.docVIP

The Inverse Kinematics Analysis of Six-DOF Robots 　　【Abstract】The kinematics of robots mainly analyses the transformational relation between links and the end-actuator position and orientation of robots, its two kinds of topics mainly include: direct kinematics topic and inverse kinematics topic[1]. This paper mainly researched the inverse kinematics of Six-DOF robots, built Six-DOF robots inverse kinematics model with D-H parameter model, and worked out the robot’s homogeneous transformation matrix[2]. Now we will build the model and study to the inverse kinematics of RBT-6SO3S which from Jiang Su Hui-Bo Robots Company. 　　【Key words】Six-DOF Robots; D-H parameter mode; Inverse Kinematics 　　0　Introduction 　　The kinematics of robots analysis is the most basic and important field in robotics. In the process of solving the problem of direct kinematics and inverse kinematics, the robots direct kinematics solution is simpler and unique compared to the inverse kinematics solution with complicated and multiple[4]. Thus, solving the problem of inverse kinematics can be more significant. 　　The kinematics of robots involves the geometrical parameters and timing parameters, usually including the direct or inverse problem of speed, position and acceleration[5]. That is the direct kinematics and inverse kinematics of robot from the traditional meaning. This paper researched the inverse kinematics of Six-DOF robots, firstly analyze and solve to the inverse kinematics of robot, then verify by C language programming and the movement of robot in the actual situation. 　　1　The kinematics analysis of robot 　　１．１　The analysis of robot structure 　　The links of robot connected by rotation or translation joints, as shown in figure 1. One side of link fixed on the base, and the other side is in a free state which can be installed various instruments to accomplish the robot assignment. 　　Figure 1　The basic structure of robot 　　１．２　The foundation of robot coordinate system 　　The