Inverse Kinematics robot in series Common Solution Method

The present invention discloses a general method for solving the inverse kinematics of the robot in tandem for. It is through the many types of robot joints and simplified classification, robot kinematics model of joint movement to establish a unified form, and then planarization processing method based on two-dimensional configuration of the robot work in the form of treatment, on the basis of the formation plane the classification of the configuration partition are set up automatically in the form of a plane configuration workspace solving method. Finally, for any robot configurations texturing plane matching realized in series robot inverse kinematics. This method not only can overcome the traditional analytical method of solving the problem of robot configuration limitations and specificity, but also overcome the general iterative method for non-real time and the problem of poor accuracy, can quickly and accurately achieve solving robot inverse kinematics. General Kinematics robot to meet the actual needs and requirements of the robot motion control.