METHOD AND APPARATUS FOR USE IN DETERMINING INVERSE SOLUTION FOR ROBOTS IN SERIES CONNECTION

摘要

A method and an apparatus for use in determining an inverse solution for robots in series connection. The method comprises: acquiring a target coordinate of a terminal joint of a robot in series connection, wherein at least one front end joint is connected in series above the terminal joint (110); randomly generating a plurality of random joint variable sets, wherein each random joint variable set comprises therein a joint variable which corresponds to each front end joint (120) respectively; calculating random coordinates of the terminal joint according to each random joint variable set (130); selecting an approximate coordinate of the terminal joint from the random coordinates according to the target coordinate (140); and determining an inverse solution of the target coordinate according to a random joint variable set which corresponds to the approximate coordinate (150); the approximate coordinate is a random coordinate wherein an error of the random coordinate and the target coordinate is within an error threshold.