Open AccessKinematics analysis and optimization of 6R manipulator
Author(s) -
Qidong Li,
Hehua Ju,
Peng Xiao
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/816/1/012016
Subject(s) - inverse kinematics , kinematics , kinematics equations , forward kinematics , parallel manipulator , position (finance) , computer science , singularity , inverse , control theory (sociology) , degrees of freedom (physics and chemistry) , robot kinematics , mathematics , artificial intelligence , robot , geometry , mobile robot , physics , control (management) , finance , classical mechanics , quantum mechanics , economics
In order to solve the problem of 6R manipulator kinematics, this paper analyzes the inverse kinematics solution and optimizes the solution process of forward kinematics. Aimed to the structural characteristics of the manipulator, this paper first introduces the concept of the natural invariants, establishes the Denavit-Hatenber (D-H) model based on the natural invariants and proposes a new iterative algorithm for manipulator forward kinematics. Then, the inverse kinematics based on the natural invariants is proposed, which is divided into the position inverse solution and the inverse attitude solution, and the analytical solution is obtained by analyzing the singularity of the solution. Finally, the visual simulation model is built with MFC and Coin4D. The simulation results show that the proposed forward and inverse kinematics method of the six-degree-of-freedom manipulator has small error and high efficiency, and the accuracy and real-time performance of the algorithm are verified.