Quick and easy method for finding the inverse solution of a class of six degrees of freedom manipulator kinematics

The present invention is in the field of manipulator inverse kinematics, in particular to a class of a six degrees of freedom manipulator inverse kinematics of angle estimating method. According to the present invention coordinates robot arm end position and the attitude matrix to determine the point of intersection of the three joint axes; solved three joint axes rotated a front view, using the geometric method; by Euler angle transformation matrix obtained after three joint shafts angle turned. The idea of ​​the proposed method may be applied to different geometries, but these belong to the six degrees of freedom manipulator. This method greatly simplifies the process of solving the inverse movement of a robotic arm solution to improve the speed of movement of solving the inverse solution to meet the requirements of industrial robotic arm for fast real-time control and accuracy.