Algorithm Research and Simulation of Robot Inverse Kinematics Solution

Abstract

Based on the research prototype of six-joint robot, Googol GRB3016, the virtual prototyping model was built by utilizing the dynamics analytic software ADAMS of mechanical system. This article sets up the constraint parameters and carries out the inverse kinematics simulation of the manipulators' motion along the space spiral trajectory. The curve of location, angular velocity and accelerated velocity are worked out in the post-processing module. The simulation shows manipulators' movement is continuous and stable as well as has no obvious impact. The design accuracy of robots is improved through 3D simulation research which well solved the difficulty of precise parameters in the design of robot body.