This paper presents an analytical solution of the inverse kinematics (IK) for a 6R robotic arm to improve positioning and orientation accuracy based on the axis-invariant (AI) method. For this purpose, a new method based on dual quaternion and AI theory has been proposed to analyze and eliminate accumulated errors in the forward kinematic and IK of the robot arm. The compactness between accuracy and reduction of the computational cost has been used by combining dual quaternion and AI features in modeling. The method was validated with the selected Denavit–Hartenberg parameters and the measured parameters. The simulation results showed that the method is efficient and accurate. Thus, the relative accuracy has improved, and the error is less than 0.0003 and 0.00014 for position and orientation, respectively. The joint angle error obtained by the IK solution has not exceeded 0.01\(^\circ \). Besides, this method can obtain the robot arm parameters even without knowing the robot’s structure data in advance.

本文提出了一种基于轴不变 (AI) 方法的 6R 机械臂逆运动学 (IK) 解析解，以提高定位和定向精度。为此，提出了一种基于对偶四元数和人工智能理论的新方法来分析和消除机械臂正向运动学和IK中的累积误差。通过在建模中结合对偶四元数和 AI 特征，使用了准确性和降低计算成本之间的紧凑性。该方法使用选定的 Denavit-Hartenberg 参数和测量参数进行了验证。仿真结果表明，该方法高效、准确。因此，相对精度有所提高，位置和方向的误差分别小于 0.0003 和 0.00014。\(^\circ \)。此外，即使事先不知道机器人的结构数据，该方法也可以获取机器人手臂参数。