›› 2012, Vol. ›› Issue (06): 1563-1568.

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Determination of inverse kinematics of a 6-DOF installing-calibrating robot

XIE Zhi-jiang1, LI Cheng1, LIU Nan2, NI Wei2   

  1. 1. State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, China;
    2. Research Center of Laser Fusion, China Academy of Engineering Physics, Mianyang Sichuan 621900, China
  • Received:2011-09-15 Online:2012-11-01

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Abstract: In order to control the 6-DOF installing-calibrating robot accurately, a method to determine the reverse kinematics solutions of the robot was proposed. The coordinate systems of joints were set up and DH parameters were obtained using DH method. Then forward kinematic solution was derived. The inverse kinematics equations of the robot were established based on analytical method. A solution closest to the current robot for a number of inverse kinematics solutions was chosen through the rules of regional dividing of the end-points in X-Y plane. The inverse kinematics results can be used for precise location of the end-effector and the motion planning, and providing theoretical basis for the robot trajectory planning and online real-time calculation.

Key words: automatic control technology, installing-calibrating robot, inverse kinematics solutions, analytical method, end-points regional dividing

CLC Number: 

  • TP242.3
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