A Study For Forward And Inverse Kinematics Of 6 DOF Robot

The kinematics of robot is the foundation of motion control.The algorithm of kinematics of 6 DOF series robot is basically mature,but there are still many details that have not been effectively solved.The location of the forward kinematics is relatively simple,and now the focus of the study or the inverse kinematics.In practice,in order to meet the requirement of system,the inverse kinematics algorithm of real-time,accuracy and exception handling must be considered.This paper based on the forward kinematics and inverse kinematics algorithm as the research object with 6 degrees of freedom the position of the robot,summarizes the advantages and disadvantages of kinematics algorithm realization method of a variety of different methods were analyzed and some improved algorithm.The main contents are summarized as follows:1.Forward kinematics,including the D_H modeling and MD_H modeling two ways to achieve the robot's Forward kinematics algorithm to get the robot end position and attitude matrix2.Inverse kinematics,including numerical method and algebraic method,numerical solution comprises a closed form analytical method,geometric projection method and Newton Raphson iteration.Based on Jacobian matrix method,algebraic elimination method including the general structure of the nonclosed classical solution.This paper mainly introduces the robot kinematics algorithm formula,using MATLAB and C language two programming language program,through the GSK RB08 transportation and RP15 painting robot is verified,the final conclusion,can basically meet the practical application of inverse solution algorithm of robot.