Inverse kinematics equation of 6-DOF robot based on geometry projection and simulation

There has been the method of neural networks, optimization algorithms and so on to solving inverse kinematics problems in recent years. In this paper, the kinematics equations of the ABB IRB-1400 spot welding robot with 6-degree of freedom which found on the D-H matrix method have been set up. Based on the method of geometry projection principle, the inverse kinematics problem of robotic manipulators is proposed through the giving position and posture of manipulator. In addition, by using the software ADAMS the validity of inverse kinematics equations based on geometric and the trajectory between two points in the simulation of welding process are verified, which provide the method for the next step of dynamics analysis and the control of trace planning.