引用本文: 程永伦, 朱世强, 刘松国. 基于旋转子矩阵正交的6R机器人运动学逆解研究[J]. 机器人, 2008, 30(2): 160-164.
CHENG Yong-lun, ZHU Shi-qiang, LIU Song-guo. Inverse Kinematics of 6R Robots Based on the Orthogonal Character of Rotation Sub-matrix[J]. ROBOT, 2008, 30(2): 160-164.
 Citation: CHENG Yong-lun, ZHU Shi-qiang, LIU Song-guo. Inverse Kinematics of 6R Robots Based on the Orthogonal Character of Rotation Sub-matrix[J]. ROBOT, 2008, 30(2): 160-164.

## Inverse Kinematics of 6R Robots Based on the Orthogonal Character of Rotation Sub-matrix

• 摘要: 以机器人运动学方程为基础，基于变换矩阵中旋转子矩阵正交的特性，提出一种6R机器人运动学逆解算法．通过矢量运算，得到含有4个未知变量的4个常系数非线性方程，辅以其它方程，最终得到8组封闭解．通过对钱江一号焊接机器人的实例求解，验证了该算法解决逆解问题仅需0．087 ms，比传统的反变换法具有更优的实时性能；平面工况的运动仿真验证了该算法的有效性．该算法可应用于6R机器人的强实时在线控制系统．

Abstract: Based on the kinematics equation and the orthogonal character of the rotation sub-matrix in a transformation matrix,an approach to the inverse kinematics problem of 6R robots is proposed.The problem is reduced to four nonlinear constant coefficient equations including only four unknown variables through vector operation,and then eight closed-form solutions can be gained by solving the four equations and other suitable additional equations.The experimental results with QJ-1 welding robot illustrate that the proposed algorithm can solve the inverse kinematics problem in only 0.087 ms,which is faster than the traditional inverse transformation method on the same experiment platform,and simulating results on planar condition also prove the effectiveness of the proposed algorithm.The proposed algorithm can be applied to 6R robot on-line control system with a strong real-time performance.

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