CAJ | 학술논문

针对后3个关节轴线相交于一点的6R工业机器人，提出一种有别于传统方法的位姿分离逆解算法，对逆解涉及的奇异和多解处理也做了详细分析，并仿真验证了该算法的正确性。该算法完全避免了矩阵求逆的运算，因此比一般的解析算法更加简单高效，便于实时控制。
침대후3개관절축선상교우일점적6R공업궤기인，제출일충유별우전통방법적위자분리역해산법，대역해섭급적기이화다해처리야주료상세분석，병방진험증료해산법적정학성。해산법완전피면료구진구역적운산，인차비일반적해석산법경가간단고효，편우실시공제。
Based on the separation between the end effector position and posture,a novel inverse kinematics algorithm was pro-posed for 6R industrial robots,which last three axis intersected at one point. More over,multi-solutions and singularity analysis were also made. The simulating result indicates that the method is effective. Using this algorithm,the inverse matrix is avoided completely. So the algorithm is simpler and more suitable for robot real-time control compared with conventional analytic methods.