| Based on the theory of robot kinematics related to PUMA560 type manipulator example, the establishment of a reverse kinematics - analytic solution model, and with specific cases that the final adoption of positive movement simulation,simulation results obtained with the complete results for corresponds to a complete solution to this type of arm movement in the fast-precision positioning of the arm to avoid a collision with the barrier and other issues.As established by the reverse kinematics model used multiple analytical solutions exist, and therefore, to illustrate the accuracy of the algorithm, and use of the uniqueness of a positive kinematic model for simulation. The simulation results and reverse movement of the basic model of anastomosis, which tested the reverse motion model is correct and effective.Theoretical analysis and numerical experiments show that the modle of highly efficient, simple, easy to implement in reality, and the paper prepared by the campaign to reverse procedures and simulation program can be directly applied to teaching demonstration, the robot kinematics research, hava a certain value. |
