Abstract:Based on the screw theory, the kinematics modeling for the 6R robot was carried out by means of the screw POE method. Based on this model, the inverse kinematics of the robot was solved. According to the configuration of the robot, a class of subproblem was proposed, that was, the two joints were parallel to each other and perpendicular to the third joint.The solution of this kind of subproblem was deduced by using the screw theory and the known Paden-Kahan subproblem. Based on the screw method, the velocity Jacobi matrix was deduced. On this basis, the singularity of the robot was analyzed, and the angle value of the singularity joint was obtained, which provided theoretical basis and important data for the trajectory planning and realtime control of the robot. The kinematics solution and singularity analysis were simulated by MATLAB. The simulation results show that the kinematic model is correct, the algorithm has high precision and the singularity analysis result is correct.