Abstract: In order to improve the performance of the robot in the milling application,the screw theory was applied to the modeling of the milling robot.In order to solve the problem that the calculation of the inverse solution is too slow in the simulation process,an improved geometric method was proposed to optimize the inversion process.According to the geometric structure of the KUKA KR60 milling robot,the method considers that the milling position is relatively fixed,and ignores the inverse solution changes caused by the first three joints of the robot.The simulation results show that the improved geometric method can greatly improve the computing efficiency and reduce the simulation time compared with the inverse method of MATLAB.

Key words: milling robot, screw theory, inverse kinematics solution, geometric method