关键词: 抛光机器人, 逆运动学, 控制, 关节值突变, 运动轨迹

Abstract:

The paper introduced the structure and operational principles of a mold polishing robot system，we constituted a model of the robot for polishing free-form surfaces，then an efficient solution of inverse kinematics equations was also applied．Without limiting the scope of robot movement in the foundation，we solved the problem of catastrophe of robot joint value with the application of the arithmetic of numerical value comparison，that caused by the multiple solutions for robot joints．It is demonstrated that the arithmetic are accurate and effectual by the online experiments，so that it can provide theoretical foundation for enhancing the speed of controlling the robot system and optimizing the robot motion．

Key words: polishing robot, inverse kinematics, control, catastrophe of joint value, motion track