Inverse Solution of 6-DOF Robot Based on Geometric Method and DH Method
1. Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin 300384, China
2. Hangzhou Hikvision Digital Technology Co., Ltd., Hangzhou 310051, China
| Abstract: | The kinematics of robots are key factors affecting the real-time performance and stability of robot control systems. The solution of inverse kinematics is also a fundamental problem in kinematics. The difficulty of inverse kinematics lies in the ever-changing geometric shapes of the robotic arm or robot itself, as well as the complex computational problems caused by nonlinear triangular equations that describe the mapping between Cartesian space and joint space. Therefore, there is currently no more universal method. The traditional matrix method involves a large number of matrix operations, and its solution process is complex. This article proposes a hybrid method of geometric method and DH method. In the process of inverse kinematics solving, the geometric method is used to solve the first three joint angles of the robotic arm, and the last three joint angles are solved using vector method, ultimately obtaining the inverse solution. Taking three commonly used industrial robots as examples, this paper provides a detailed introduction to the process of solving using geometric and DH methods, and then uses MATLAB simulation to verify the effectiveness of the geometric solution. Compared with the commonly used inverse transformation matrix method, iterative method, etc. in traditional algorithms, the pose error of the algorithm proposed in this paper is basically the same for the same number of inverse solutions, and it has relatively high efficiency. Therefore, it can be seen that the algorithm proposed in this article has certain advantages and practicality. |
| Keywords: | Industrial Robot; Inverse Kinematics; Geometric Method; DH Method |
| DOI: | 10.57237/j.mse.2024.01.001 |
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Received: 25 October 2023
Accepted: 3 January 2024
Published Online: 20 January 2024
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