Before we discussing how slip ring cooperates with the movement of the six-axis robot, let us learn more about how the six-axis robot moves firstly.

Firstly we need to know the main research content for the first six-axis robot

Part 1, Kinematic analysis

The mainly studies of the kinematic analysis is the relative positional between the end of the robot and the base, which is the basis theoretical for further motion planning. The direction kinematic theoretical is divided into two parts, the forward kinematics and inverse kinematics.

Part 2, Forward kinematics problem

There are two kinds solution methods of the kinematic problem commonly, D-H method and spinor theory method. The D-H method establishes the link coordinate system on the robot, obtains the transformation matrix of adjacent joints, and obtains the pose relationship of the robot end and the base finally. The spinor theory method constructs the unit motion spinor of each joint in the overall solution coordinate system and chooses the exponential product formula to obtain the positive solution of the robot.

Part 3, Inverse kinematics problem

General solution methods of the inverse kinematics include analytical solution, numerical solution and intelligent solution. The analytical solution include the algebraic methods, geometric methods and methods based on spinor theory. The second method numerical solution is to obtain the inverse solution through iterative solution. The third method is intelligent solution, representatives of it include particle swarm optimization algorithm and neural network algorithm.

That's the motion theory of six-axis robot.

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