An axis invariant-based multi-axis robot forward kinematics calculation method: using an axis set to correspondingly describe a multi-axis robot apparatus and, based on the natural coordinate system, using the axis invariants corresponding to the axes of the axis set to calculate control parameters of the multi-axis robot apparatus; using the invariance of the axis invariants to establish an axis invariant-based iterative kinematic equation, the symbols of the iterative kinematic equation corresponding to a pseudo-code, reflecting the topological relationship and chain sequence relationship of the kinematic chain of the multi-axis robot apparatus; calculating the iterative forward kinematic values of the kinematic chain; and calculating the axis invariant-based iterative deflection.
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