The kinematics model of robot is established based on the specific structure of 6R robot. In consideration of the robot base movement and the actuators replacement, the key problem of robot inverse kinematics is separated and a new simple method for deriving inverse kinematics without complex matrix inversion is developed. Furthermore, by analyzing the procedure of solution, the author optimizes the solution algorithm in favor of programming realization to satisfy the demand of off-line programming and real-time control. Finally, the validity of the solution of forward and inverse kinematics is verified by simulation experiments. And the result can be used on the robot which has similar mechanical configurations.
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