Inverse Kinematics Solution for Staübli Robot Manipulator

摘要

In this paper Staubli 6-axis-robots are decomposed into position structure and stance structure, and the author utilizes arm-wrist separateness method to analyze the inverse kinematics of the robot in detail, and builds a space coordinate frame based on the D-H coordinate transformation method that is released by Denavit and Hartenberg, and deducts inverse kinematics arithmetic about the robot according to the theory. The amount of calculation of the arithmetic is the minimum, so is the error. Finally, the author utilizes MATLAB6.5 to build a simulation system, and that the simulation proves the validity of the method.