Inverse kinematics solving method and system for four-degree-of-freedom series robot

• Main Authors: TANG XIAOFENG, HAN RUI, YIN XIANG, ZHANG YUXIN, TANG RIJIA, FAN WENJING, ZENG YUANFAN, LI JIABAO
• Format: Patent
• Language: Chinese; English
• Published: 19.10.2021
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention provides an inverse kinematics solving method and system for a four-degree-of-freedom series robot. The inverse kinematics solving method comprises the steps of establishing the coordinate system of each connecting rod, solving a kinematics positive solution of the robot, solving the r...