关键词: 机器人, 算法, 运动学

Abstract: Based on the differential relationships represented with simplified Jacobian matrices, the paper presents the solution for inverse kinematics along a Cartesian path of industrial robots. As only a 3×3 linear equations need be solved, the computation is greatly simplified. The singular value decomposition is used to solve the set of equations. By giving the homogeneous solution of the set of equations within the limits of differential motion and changing the hand motion appropriately, the joint motion at singularity is better determined. Both the sudden change of joint motion is eliminated and the deviation of the hand motion is under control to a large extend. At the end of the paper, the computational results for inverse kinematics of a industrial robot without explicit solution are given.

Key words: Kinematics, Robot, Solution