TO SOLVE INVERSE KINEMATIC PROBLEM OF A TRANSPORT ROBOT BY MEANS OF FORWARD KINEMATIC MAP BASED ON THEORY OF SCREW

The paper presents a method to solve the inverse kinematic problem of a robot by carrying out matrix transfofrmation to the forward kinematic mapping,which is derived based on theory of screw.The method has been successfully applied to studying the inverse kinematics of a transport robot;therefore it provides reference for dealing with the inverse kinematic problems of general industrial robots.