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

摘要：

介绍了自行研制的模具表面抛光机器人系统的构成和工作原理，建立了面向自由曲面抛光精加工的机器人模型，应用新的算法，快速且准确地求出运动学逆解。在不限制机器人运动范围的基础上，运用数值比较法解决机器人关节变量多解所导致的关节值突变问题。通过实验证实了该算法的正确性和有效性，为系统控制速度能力的提高和运动轨迹的优化提供了理论依据。

关键词: 抛光机器人, 逆运动学, 控制, 关节值突变, 运动轨迹