关键词: 逆运动学, 符号运算, 矩阵分解, 高精度

Abstract:

In order to solve the problem of inverse kinematics for general 6R robots,an algorithm with high accuracy based on symbolic preprocessing and matrix decomposition was proposed.Symbolic preprocessing was performed to obtain the coefficient matrixes of the inverse kinematics equations and avoid the accumulative errors of floating point computations.Singular value decomposition was adopted to ensure the rank stability of coefficient matrixes, eigendecompostion of matrixes and the method of selecting elements with the highest magnitude were applied to minimize the influence of accumulative errors on solving stability and accuracy.All these ensure that the algorithm can get 16 real solutions at most with any required accuracy.Experiments on general 6R robots and PUMA560 robots with small configuration perturbations verify the validity of the proposed algorithm.

Key words: inverse kinematics, symbolic processing, matrix decomposition, high accuracy