Method and device for controlling robot operations

Abstract

The invention discloses a method and a device for controlling robot operations, belonging to field of robots. The method comprises the following steps: 1. taking a kinematical equation as a target matrix, setting an expected matrix according to mission requirements, appointing a joint variable in a plurality of joint variables of a robot, and selecting a value from a joint topological space as a current value for starting iteration; 2. calculating other joint variables according to the equivalent relation of two matrixes and taking all calculated joint variables as a set of solutions of inverse kinematics; and 3. judging whether the iteration is finished or not, if so, utilizing the obtained solutions to control the robot operations, and otherwise, selecting a value from the joint topological space as a current value as an appointed joint variable according to the step length and executing the step 2. The device comprises an initiating module and an iteration module. The invention improves the solving speed of inverse kinematics and the controlling speed the robot operations, reduces the consumed time, improves the efficiency and has better universality.

Description

technical field [0001] The invention relates to the field of robots, in particular to a method and device for controlling the operation of a robot. Background technique [0002] A robot with less than six degrees of freedom is called a robot with few degrees of freedom. Robots with less degrees of freedom cannot perform complete spatial position positioning and attitude adjustment, but in certain specific working conditions, such as medical puncture, arc welding, spot welding, spraying, handling, and glue application, less degrees of freedom can already meet the requirements. Task requirements, and compared to robots with six degrees of freedom or even redundant degrees of freedom, industrial robots with fewer degrees of freedom have advantages in configuration design and control. Therefore, according to the specific application environment, different manipulator configurations can be synthesized. [0003] In the process of motion planning and trajectory control of the rob...

AI Technical Summary

Problems solved by technology

At present, there is a general closed solution algorithm for solving the inverse kinematics of robots, but this algorithm can only solve the robot structure with an analytical solution, but cannot solve the robot structure without an analytical solution

In addition, there is a numerical algorithm that searches the joint topological space according to the inverse kinematics equation until a solution is found. This algorithm takes a long time and has low efficiency, which affects the motion planning and trajectory control of the robot.

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