The Inverse Kinematics Analysis of Six-DOF Robots

The kinematics of robots mainly analyses the transformational relation between links and the end-actuator position and orientation of robots,its two kinds of topics mainly include：direct kinematics topic and inverse kinematics topic[1].This paper mainly researched the inverse kinematics of Six-DOF robots,built Six-DOF robots inverse kinematics model with D-H parameter model,and worked out the robot’s homogeneous transformation matrix[2].Now we will build the model and study to the inverse kinematics of RBT-6SO3S which from Jiang Su Hui-Bo Robots Company.