Foshan Huashu Robotics Co., Ltd.

Foshan Institute of Intelligent Equipment Technology

Tongshu Chen

Lin Wei Yang

Xing Zhou

Xugao Deng

Haibin Yang

Shifeng Huang

Qun Wang

Simin Chen

Disclosed is a method for obtaining the inverse kinematics of a six-degree-of-freedom serial robot with an offset wrist. The method uses the analytical solution of the inverse kinematics of the six-degree-of-freedom serial robot with a non-offset wrist as an approximate solution of the inverse kinematics of the six-degree-of-freedom serial robot with an offset wrist and an initial point for iteration, and obtains a numerical solution of the inverse kinematics of the six-degree-of-freedom serial robot with an offset wrist meeting the accuracy through continuously iterative approaching. The present disclosure has faster convergence and less calculation amount relative to the traditional calculation method, reduces the computation burden for a robot controller, and improves the real-time performance.

Numerical method for obtaining the inverse kinematics of six-degree-of-freedom serial robot with an offset wrist

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Foshan, China

Tongshu Chen