关键词: 机器人, 六自由度机械臂, 运动学, 逆运动学, 六维线性插值

Abstract: Abstract: Concern the problem of solving the inverse kinematics equation of six degree of freedom manipulator is discussed, a method six dimensional linear interpolation theory was proposed through expand the one-dimensional and two-dimensional linear interpolation theory. Super body composition using seven adjacent nonlinear related nodes, using the seven node will get six yuan for a linear prediction function, which can be used to interpolation and inverse interpolation. Matlab is used to generate one million sets of empirical data according to the forward kinematics equation, and the target position is inverted interpolated, and the six joint angles are predicted iteratively. Experimental results show that, compared with radial basis networks, the six dimensional linear inverse interpolation method can approach the target pose faster and more accurately. The method presented in this paper is a data based algorithm that avoids complex theory and meets the requirements of robot everyday applications.

Key words: Robot, 6-DOF manipulator, Kinematics, Inverse kinematics, Six dimensional linear interpolation