Inverse kinematics solution and verification of light-duty collaborative manipulator in coal mine

The coal mine cooperative manipulator can assist workers in completing production tasks in coal mine production.In order to solve the inverse kinematics problem of the 6-DOF coal mine light-duty collaborative manipulator and improve the calculation speed of the inverse solution algorithm, an inverse kinematics algorithm for the manipulator based on the geometric method and Euler angle transformation method is proposed.The algorithm is simple to implement, and the solution speed is faster than the traditional iterative method and analytical method.Firstly, the mathematical model of the manipulator is established by the Denavit-Hartenberg method, and the forward kinematics equation is derived.The geometrical method is used to solve the first three-axis angle of the manipulator.The Z-Y-Z Euler angle transformation method is used to solve the last three-axis angle.The function written in Matlab is used to implement the proposed inverse solution algorithm.Then, a virtual manipulator dynamics model is built in the robot virtual simulation software V-REP.In Matlab, the inverse solution function is used to connect and control the virtual robot in V-REP through the API interface, so that the end effector moves to the specified position and orientation to verify the correctness of the inverse kinematics algorithm.Finally, the inverse algorithm is implemented in the microcontroller using C language, and the solution time of the algorithm is compared with two other common algorithms to verify the fastness and practicality of the inverse kinematics algorithm in the microcontroller.The results of Matlab and V-REP simulation experiments show that the inverse solution algorithm is correct.The results of time comparison experiments in the microcontroller show that the algorithm is faster than the traditional algorithm.