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Vol. 164, Issue 2, February 2014, pp. 295-301




Research on Inverse Kinematics Program Optimization of 6R Decoupled Robot

Daode ZHANG, Yuanzhong LI

School of Mechanical Engineering, Hubei University of Technology, 430068, China

E-mail: hgzdd@126.com, yuanzhongsf@163.com


Received: 20 November 2013 /Accepted: 28 January 2014 /Published: 28 February 2014

Digital Sensors and Sensor Sysstems


Abstract: According to complex analytic formula for the six degrees of freedom decoupled robot, a detailed analysis of the six degrees of freedom decoupled robot analytic formula of export process, as well the causes of multiple solutions. The method of increasing the local variables to avoid processor running the same statement repeatedly is proposed. The method to find the most frequency formula appeared in analytic solution replaced with local variables facilitate the use of loop to reduce the amount of code. It effectively reduces the computation time, optimize the computing process. Finally, taking PUMA560-like robot as an example, the calculation result is verified and simulated in Robotics Toolbox of MATLAB.


Keywords: Six degrees of freedom robot, Link parameters, Analytic solution, Program optimization, Verification.


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