Approach to improve inverse kinematics and curve interpolation algorithm for 6R industrial robot

Solutions of inverse kinematics is important for a vertical-six-joint industrial robot. This paper proposes a method based on the characteristics of the solutions and the geometric structure of the robot to obtain proper inverse kinematics solutions without calculating all sets of solutions. Position and orientation interpolation are combined together in curve interpolation. The optimized solutions makes the robot move smoothly and avoid a sudden change in joint angles during its trajectory tracking. The experimental results verified the effectiveness of the proposed methods and showed that they make the motion of robot smooth and accurate.