关键词: 高精度, 矩阵分解, 逆运动学, 实时, 一般6R机器人

Abstract: In order to solve the problem that the existing real time algorithms for inverse kinematics of general 6R robots have complex procedures and extraneous roots, an optimized algorithm with real-time and high-accuracy performances is proposed. The 6 basic inverse kinematics equations are transformed through symbolic processing and the order of target matrix is reduced from 24 to 16, thus improving the algorithmic efficiency while eliminating extraneous roots. Eigen-decomposition is exploited to extract roots from target matrix, which ensures the stability of the algorithm and accuracy of the solutions. By invoking CLAPACK in VC++ directly, all calculations are accomplished with C/C++ language and object orient programming technique. Experimental results show that the proposed algorithm can obtain 16 inverse kinematics solutions of general 6R robot in an average time of 1.37 ms, and elements in the corresponding position and orientation matrix of forward kinematics have an accuracy of 12 digits after decimal point, so it can be applied in real-time and high-accuracy control systems of general 6R robots.

Key words: General 6R robot, High accuracy, Inverse kinematics, Matrix decomposition, Real time