For an improved 6-DOR series robot of which the axes of the last three rotating joints intersect to one point and the axes of the first three rotating joints are non-intersect each other, its workspace is better than the workspaces of traditional industrial robots. But the inverse kinematics calculation for this improved 6-DOR series robot is complicate and cost large computing, which limit its application. In order to improve the performance of the algorithm for its inverse kinematics calculation, a novel Paden-Kahan sub-problem which can be described as letting a point rotate about two disjoint and non-parallel subsequent axes to the point appointed, and its extended problem which can be described as letting a point rotate about two disjoint and non-parallel subsequent axes to two points fixed with two distance appointed to each, are proposed and solved. By constructing a plane perpendicular to the motion trajectory of the rotating point, the forward and inverse kinematics problems of this novel Paden-Kahan sub-problem were solved. Combining with other known Paden-Kahan sub-problems, the inverse kinematics of the 6R series robots are simplified and solved. Then the constraint conditions and the situations of the number of its inverse kinematics solutions are discussed. With the method proposed, the geometrical significance signed for the inverse kinematics is clearer than that with traditional algebraic elimination method, and the operation efficiency of the inverse kinematics is improved. The effectiveness of the solving methods is verified through an instance with exact parameters.
SUN Henghui
,
ZHAO Aiwu
,
LI Da
,
ZHANG Maofeng
. Improvement of the Algorithm of the Inverse Kinematics Calculation for 6R Series Robots Based on One Novel Paden-Kahan Sub-problem[J]. Journal of Mechanical Engineering, 2016
, 52(1)
: 79
-86
.
DOI: 10.3901/JME.2016.01.079
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