Analysis and Optimization of Workspace Flexibility for UR Robots

In response to the problem of collaborative robot UR detecting multimeter, the flexibility of robot workspace is analyzed. First, the D-H method is used to model the Kinematics of the robot, and the Monte Carlo method is used to solve the workspace of the robot. Then, using the concept of service ball, a flexibility calculation method for UR robot was proposed, and the flexibility of robot workspace was solved. Finally, the impact of various parameters on the flexibility of the robot was analyzed, and the flexibility was optimized using genetic algorithms, and obtain a more flexible posture in the robot workspace. This study provides a reference for robots to detect the positional relationship of a multimeter, ensuring the efficiency and quality of detection.