Method for quick solution of six-degree-of-freedom humanoid dexterous arm inverse kinematics

Abstract

The invention discloses a method for quick solution of six-degree-of-freedom humanoid dexterous arm inverse kinematics. The method includes: firstly, setting up a six-degree-of-freedom human arm simulated joint structural model, solving an elbow joint angle and two joint angles of the shoulder joint according to a planar relation formed by the shoulder center, the elbow center, the wrist center and the neck center of the dexterous arm and the tail end position of the dexterous arm, and further solving three joint angles of the wrist joint by the aid of the dexterous arm tail-end posture relation; and calculating position error of a dexterous arm target link to prove effectiveness of the solution of the inverse kinematics by means of a positive kinematic model. Compared with a numerical solving method for robot inverse kinematics, the method for quick solution of six-degree-of-freedom humanoid dexterous arm inverse kinematics is high in precision and quick in speed, and can be used for humanoid dexterous arm operational tasks having high requirements on precision and instantaneity.

Description

technical field [0001] The invention relates to a six-degree-of-freedom humanoid dexterous arm, in particular to an analytical and fast solution method for the inverse kinematics of the six-degree-of-freedom humanoid dexterous arm. Background technique [0002] If a humanoid robot wants to replace humans to complete various tasks, it must have a humanoid dexterous arm that resembles a human upper limb. The connecting rod configuration and terminal motion of the humanoid dexterous arm can be expressed by its joint angle of freedom. The kinematics of the dexterous arm can be divided into forward kinematics and inverse kinematics, and the former is based on the change of the joint angle of each degree of freedom of the dexterous arm. To solve the pose motion of the target link of the dexterous arm, that is, the mapping problem from the joint angle space to the Cartesian space; the latter inverse kinematics problem is the opposite, it is the mapping problem from the Cartesian sp...

AI Technical Summary

Problems solved by technology

The analytical method solves the inverse kinematics problem of the robot. It does not need numerical iterative search and optimization, and directly obtains the theoretical value of each joint angle from the analytical formula, so it has the advantages of fast speed and high precision. However, the analytical method for solving inverse kinematics is more dependent on the robot. The unique geometric characteristics of a specific mechanism are suitable for solving the inverse kinematics of some simple-structured industrial manipulators, and are rarely used in the inverse kinematics of complex-structured humanoid dexterous arms

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