Millen, White, Zelano & Branigan, P.C.
Numerical method for obtaining the inverse kinematics of six-degree-of-freedom serial robot with an offset wrist
Disclosed is a method for obtaining the inverse kinematics of a six-degree-of-freedom serial robot with an offset wrist. The method uses the analytical solution of the inverse kinematics of the six-degree-of-freedom serial robot with a non-offset wrist as an approximate solution of the inverse kinematics of the six-degree-of-freedom serial robot with an offset wrist and an initial point for iteration, and obtains a numerical solution of the inverse kinematics of the six-degree-of-freedom serial robot with an offset wrist meeting the accuracy through continuously iterative approaching. The present disclosure has faster convergence and less calculation amount relative to the traditional calculation method, reduces the computation burden for a robot controller, and improves the real-time performance.
Foshan Institute of Intelligent Equipment Technology Foshan Huashu Robotics Co., Ltd.
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Haibin Qun Lin Xing Simin Xugao Tongshu Shifeng
Yang Wang Yang Zhou Chen Deng Chen Huang