SV型手腕6R喷涂机器人运动学算法研究

运用分离常量及矩阵求逆的方法,研究了新型的SV(stereo-vertical)型手腕6R喷涂机器人的逆运动学算法,求出精确数值解析解。对于一个末端矩阵,可求得16组逆解。基于QT平台,结合QML关键技术及CS设计模式,设计了一套喷涂机器人的离线编程仿真系统,通过实现轨迹精确控制,验证了该算法。结果表明,该算法求解正确,精度高。

Study in Kinematics Algorithms of SV Type 6R Wrist Spraying Robot

The study was carried out in new stereo vertical (SV) type 6R wrist spraying robot of inverse kinematics algorithm by using separate constant and inverse matrix solution method.The accurate numerical analysis solution was worked out.The 16 groups of inverse solutions were gotten with an end matrix.Based on the QT platform, combining with the QML key technology and CS design patterns, a set of spraying robot off-line programming simulation system was designed to verify the algorithm through the implement of trajectory accurately control.Result shows that the solution of algorithm is correct with high precision.