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首页> 外文会议>International Conference on Research in Intelligent and Computing in Engineering >Inverse Kinematics Analysis of Welding Robot IRB 1520ID Using Algorithm for Adjusting the Increments of Generalized Vector
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Inverse Kinematics Analysis of Welding Robot IRB 1520ID Using Algorithm for Adjusting the Increments of Generalized Vector

机译：使用算法调整广义向量增量的算法焊接机器人IRB 1520id的逆运动学分析

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This paper focuses on presenting an algorithm for adjusting the increments of generalized vector to solve the inverse kinematics problem of welding robot IRB 1520ID which has six degrees of freedom. It means a redundant system. This method allows the end-effector position of robot to follow the desired trajectory and ensure a given tolerance. Values of joint variables are calculated consecutively corresponding to each position of the end-effector point. These values are ensured within the permitted limits, stick to each other and avoid singular points. The velocity, acceleration and jerk of joints are also calculated based on the results from the algorithm mentioned above combining with the accurate determination of derivative the firstand second-order Jacobian matrices with respect to time. These values are guaranteed to be within the permitted motion limits of the robot. In addition, the acceleration and the jerk at the end-effector point are determined through the forward kinematics problem.
机译：本文侧重于呈现用于调整广义向量增量的算法，以解决具有六个自由度的焊接机器人IRB 1520ID的逆运动学问题。这意味着一个冗余系统。该方法允许机器人的末端执行器位置遵循所需的轨迹并确保给定的公差。关节变量的值是对对应于末端效应点的每个位置的连续相对应的。这些值在允许的限度内确保，彼此粘附并避免奇点。接头的速度，加速度和抽搐也基于上面提到的算法的结果，与时间相对于时间的准确确定第一和二阶Jacobian矩阵的准确确定。保证这些值是在机器人的允许运动范围内。另外，通过前向运动点问题确定末端效应点的加速度和抖动。

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