Analytical inverse kinematics and trajectory planning for a 6DOF grinding robot

A grinding robot is composed of six joints, within which the second joint is a prismatic joint and the others are rotational joints. According to its configuration characteristic, the 6DOF of the inverse kinematics problem was decomposed into two 3DOF sub-problems: the position inverse kinematics and the attitude inverse kinematics. Then the two sub-problems were respectively solved analytically, and four sets of solutions of the joint variables were obtained. By adopting the configuration flag, the appropriate solution corresponding to the flag can be determined. Furthermore, the circular trajectory in Cartesian space of the grinding robot was planned to perform the grinding tasks. By taking advantage of the analytical inverse kinematics, the planned Cartesian trajectory is transformed into joint-space. Finally, a simulation system was developed by using Matlab/Simulink software. Based on the system, the analytical inverse kinematics solution and trajectory planning method was studied by numerical simulation. The simulation results showed the effectiveness of the proposed method.