AXIS-INVARIANT-BASED FORWARD KINEMATICS MODELING AND SOLVING METHOD FOR MULTI-AXIS ROBOT SYSTEM

摘要

An axis-invariant-based forward kinematics modeling and solving method for a multi-axis system. The method realizes inherent compactness, real-time and function multiplexing performances, concise hierarchicalization and fully parameterized modeling and real-time solving, and has the functions of a pseudocode and symbolic analysis. Circuits and codes can be configured to be directly or indirectly executed inside a multi-axis robot system partially or totally. In addition, an analysis and verification system constructed on the basis of these principles is also comprised and is used for designing and verifying a multi-axis robot system.