Loading and Unloading Robot Inverse Kinematics Solution Optimization Algorithm

The loading and unloading robot needs to plan the motion trajectory in real time during the loading and unloading process, and it is difficult to avoid encountering obstacles or being in a singular position. When the traditional six-axis industrial robot encounters a singular configuration, there is no room for adjustment of the joint angle, so it is impossible to achieve the specified pose, and it is easy to stop during operation. Aiming at this, a redundant seven-degree-of-freedom loading and unloading robot is designed. The analytical solution of the inverse kinematics of the 7-degree-of-freedom redundant robot is obtained by the formula method, and the method of determining the redundant angle is proposed to reduce the maximum joint displacement. Firstly, the appropriate joint is selected as the redundant joint. By giving a small increment of the redundant angle, the approximate linear relationship between the increment of other joint angles and the increment of redundant joint angles is obtained. Then, the linear programming method is used to obtain the optimal redundant angle increment, so as to reduce the maximum joint displacement of the robot during interpolation, thereby reducing the interpolation time and action amplitude, and improving the operation efficiency of the loading and unloading robot.