A control algorithm of general 6R mechanic arm based on inverse kinematics

摘要

A control algorithm for solving the problem of general 6-DOF serial mechanic arm was proposed, based on inverse kinematics, by applying pseudo-inverse of Jacobian matrix for solving differential movement and using Newton-Raphson iteration to approximate target position. Jacobian matrix was modeled according to forward kinematics, using SVD decomposition of Householder to avoid the singularity problem. There was a good and fast local convergence, as also as achieving higher precision and the ideal speed. The algorithm was realized on an ARM9-based embedded system. The corresponding tests show that the algorithm is real-time enough to meet system requirements; it can be applied to real-time mechanic arm control system.