Axis-Invariant based Multi-axis robot system forward kinematics modeling and solving method

摘要

The present invention proposes a positive kinematic modeling and solving principle of a multi-axis system based on axis invariance. This principle realizes inherently compact, function multiplexing performance, concise hierarchical and full-parameter modeling and real-time solution, features with pseudo code and symbol analysis. It can be set as a circuit or code, directly or indirectly, partially or completely within the multi-axis machine system. In addition, the present invention also includes an analysis verification system constructed on these principles for designing and verifying multi-axis machine systems.