Real-Time Solution of Inverse Kinematics for 6R Robot Manipulators Using Digital Signal Processor

Abstract:

It is a challenge to get real-time solutions for the inverse kinematics problem of 6R robot. In this study, a digital signal processor (DSP) was adopted as the central processor for the algorithm inverse kinematics. Based on it, the robot end-effector carried out the interpolation of point-to-point spatial straight line, and the inverse kinematics solving of 6R robot manipulators end-effector was achieved. The deflection variations of the 6 joints were acquired during the interpolation in a Cartesian coordinate. The results show that inverse Kinematics solution for each interpolation point only cost 0.06588 millisecond using DSP 6711. This hard structure can ensure the real-time performance of control for robot and content the real-time control performance expected of industrial manipulators.

• Periodical: Applied Mechanics and Materials (Volumes 423-426)
• Pages: 2788-2791
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.423-426.2788
• Online since: September 2013
• Authors: Lin Chen*, Hai Hong Pan, Han Ling Mao
• Keywords: 6R Robot Manipulators, Digital Signal Processor (DSP), Interpolation of Point-to-Point, Inverse Kinematics, Real-Time Performance

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