Sim2real kinematics modeling of industrial robots based on FPGA-acceleration

Abstract

It is challenging to apply robotic inverse kinematics directly in simulation to real robot motion due to the multi-configuration problem, robot end deviation, and delay. To this end, this paper proposes a industrial robot modeling method for “Simulation to Real” to obtain the real joint angle vector given real end-effector target pose . In the first stage, the joint angle in simulation corresponding to the real end-effector pose, is calculated by improved Newton–Raphson method. In the second stage, a data-driven ResNet model, which is trained on enough simulated joint angles and end-effector pose obtained in the first stage, is used to acquire the end-effector pose in simulation. The joint angles in real environment can be obtained by the simulated end-effector pose in execution stage. The experiment takes a six-axis industrial robot as a case study. The results verify the feasibility and real-time performance of the inverse kinematics method in robotic motion from simulation to real environment. • A sim2real modeling method for the kinematics of industrial robots is proposed. • An FPGA-accelerated inverse kinematics model based on iteration is built. • An FPGA-accelerated forward kinematics model in simulation based on ResNet is built.