Abstract
The inverse solution process of industrial robot is complex. Because the traditional matrix algorithm involves a lot of matrix operation, its process is complex. Numerical algorithms usually do not yield all the solutions, generally, the selection of initial value and the search algorithm have great influence on the convergence and accuracy. The geometric algorithms is simple and intuitionistic with simple expression and small computation. In this paper, a hybrid algorithm combining the geometric method and the inverse transformation matrix method is proposed for puma 560 industrial robots. The geometric algorithms is used to solve the first three joints and the matrix algorithm is used to obtain the final three joint angles. This paper introduces the inverse solution algorithm for this kind of robot in detail, and verifies the effectiveness of the proposed algorithm through matlab simulation.
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