Kinematics Analysis for a 6-DOFs Drilling Robot

摘要

Kinematics analysis is the precondition for trajectory planning and control for a robot. The analytic solutions of inverse kinematics are complicated especially for a robot with 6-DOFs. Usually there are no closed solutions for a common manipulator [1], unless putting some additional constraint conditions on certain joints but these may decrease the workspace in a large extent. This paper formulated the kinematics equations for a drilling robot with 6-DOFs and provided a new method to solve the inverse kinematics equations without large decrease in workspace. The validities were verified by forward kinematics. This method could be referred to solve inverse kinematics problems of other manipulators.