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Motion driving method for robot with nine degrees of freedom

A technology of motion drive and robot, applied in manipulators, program control manipulators, manufacturing tools, etc., can solve the problem that the inverse kinematics solution method cannot be directly applied to photography robots, etc.

Active Publication Date: 2012-07-04
BEIJING ZHONGKE GUANGSHI TECH
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0005] It is precisely because of the above-mentioned characteristics of the robot in the field of photography that the inverse kinematics solution method in the prior art cannot be directly applied to the 9-degree-of-freedom photography robot

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  • Motion driving method for robot with nine degrees of freedom
  • Motion driving method for robot with nine degrees of freedom
  • Motion driving method for robot with nine degrees of freedom

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Embodiment Construction

[0074] The present invention will be described below in conjunction with the accompanying drawings and specific embodiments.

[0075] Before describing the present invention, for the convenience of understanding, some concepts involved in the present invention will be collectively described.

[0076] 1. The 9 degrees of freedom of the robot: reference figure 1 , the moving joint of the robot has the first degree of freedom, the shoulder joint has the second degree of freedom, the elbow joint has the third degree of freedom, the wrist joint has the fourth degree of freedom, and the hand joint has the fifth, sixth, and seventh degrees of freedom. Rotational joints have eighth and ninth degrees of freedom.

[0077] 2. Cartesian space: refers to a linear space defined using a Cartesian coordinate system. In this application, a three-dimensional Cartesian space is used to represent the motion space of a robot in a broad sense.

[0078] 3. Joint space: Assuming that the robot has...

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Abstract

The invention provides a motion driving method for a robot with nine degrees of freedom. The method includes realizing motion path planning and gesture planning of a tail-end hand of the robot by the aid of information, which is provided by a user, of positions and gestures of the tail-end hand at multiple points in a cartesian space, and obtaining positions of the tail-end hand of the robot in an integral driving process and gestures of the tail-end hand of the robot in the integral driving process; solving a joint space from a first degree of freedom to a sixth degree of freedom of the robot at a certain point of time by the aid of the obtained information of the positions of the tail-end hand of the robot, and solving a joint space from a seventh degree of freedom to a ninth degree of freedom of the robot at the point of time by the aid of the obtained information of the gestures of the tail-end hand of the robot; and driving the robot to move by the aid of the obtained joint spaces of the ninth degrees of freedom. The motion driving method for the robot has the advantages that the user only needs to provide the positions and the gestures of the tail-end hand of the robot at a few of points in the space, accordingly, the robot can be driven, and the motion driving method is simple in implementation and high-efficiency in running.

Description

technical field [0001] The invention relates to robot motion control, in particular to a motion driving method of a nine-degree-of-freedom robot. Background technique [0002] With the continuous development of science and technology and productivity, robots are more widely used in various fields. For example, in the production workshops of large automobile manufacturers, the application of robots can be seen everywhere. In most cases, people need robots to be able to complete specified actions, such as welding in the production of automobiles. The discipline used to study how robots move is called robot kinematics. Robot kinematics can be divided into two categories: forward and inverse. The problem to be solved by forward kinematics is that the joint space Q(θ)=[θ 1 , θ 2 ,...,θ n ], find the end position and attitude of the robot. The problem to be solved by inverse kinematics is to find the joint space of the known robot end position and attitude. Compared with for...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J9/02B25J13/00
Inventor 朱登明谢斌刘华俊王兆其
Owner BEIJING ZHONGKE GUANGSHI TECH
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