Inverse kinematic analysis of 6-axis robotic arm 3D printing system based on position and posture separation method

The robotic arm offers significant advantages, including strong flexibility, wide working range, and high precision. The 3D printing system based on the robotic arm overcomes the shortcomings of traditional 3D printers, such as restricted workspace and inability to repair existing objects. This paper proposes a novel method for solving the inverse kinematics of a robotic arm. Using the separation of position and posture, the proposed method aims to overcome the challenges of solving complex nonlinear equations in traditional analytical kinematic analysis of robotic arms. Firstly, a mathematical model of the robotic arm is established and subjected to inverse kinematics decoupling. The first three joint angles are solved using geometric methods, while the corresponding nonlinear equations for the last three are solved using analytical methods. This approach simplifies the complex nonlinear equations, achieves separate kinematic position and posture inverse solutions, and selects the optimal solution. The correctness of the solution was verified through simulation experiments.