A general analytical algorithm for collaborative robot (cobot) with 6 degree of freedom (DOF)

摘要

The Forward and inverse kinematics of the robot is the connection of mechanical system motion and control system. There is no closed form solution for inverse kinematics of 6 DOF robots currently. The method of numerical iterative algorithm is used usually, but which is hard to ensure the requirement of real-time and accuracy. Considering the application and characteristic of cobot, we designed the mechanical structure and distributed the 6 DOF of it. This paper uses the analytical method to get the consequence of the forward and inverse kinematics of the robot. It ensures the most important characteristics of real-time and accuracy. It can also get the singularity of the robot easily. At last, we verified the method by simulation in MATLAB.