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Position reversal solution control method of six-freedom cascade mechanical arm

A control method and technology of a mechanical arm, applied in the direction of position/direction control, non-electric variable control, control/regulation system, etc., can solve the problems of poor real-time performance and low accuracy, and meet the requirements of real-time performance, accuracy, and calculation amount Small, easy-to-achieve effects

Active Publication Date: 2012-07-25
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0004] In order to overcome the disadvantages of poor real-time performance and low accuracy of existing position inverse solution control methods, the present invention provides a position inverse solution control method of a six-degree-of-freedom serial manipulator with good real-time performance and high accuracy

Method used

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  • Position reversal solution control method of six-freedom cascade mechanical arm
  • Position reversal solution control method of six-freedom cascade mechanical arm
  • Position reversal solution control method of six-freedom cascade mechanical arm

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Embodiment Construction

[0029] The present invention will be further described below with reference to the accompanying drawings.

[0030] refer to figure 1 , a position inverse solution control method of a six-degree-of-freedom mechanical arm in series, characterized in that: the dual quaternion can be used to represent the nature of the rotation and translation of a three-dimensional object, and each rotating joint of the six-degree-of-freedom mechanical arm is transformed by a dual quaternion Numbers show that in three-dimensional space, around the unit vector u=(u x , u y , u z ) rotation by angle θ can be represented by a unit quaternion as:

[0031] cos(θ / 2)+sin(θ / 2)(u x i+u y j+u z k)

[0032] which is

[0033] q=[cos(θ / 2), sin(θ / 2)x , u y , u z >] (1)

[0034] The unit quaternion can describe the rotation of a rigid body as shown in formula (2), and a displacement in three-dimensional space can be synthesized by rotation and translation, and the rotation is represented by the unit ...

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Abstract

The invention discloses a position reversal solution control method of a six-freedom cascade mechanical arm. Characteristics of rotation and translation of a three-dimensional object can be expressed by using a dual quaternion, all rotational joints of the six-freedom cascade mechanical arm are expressed by using the dual quaternion through conversion, a conversion relationship of the rotational joints and the dual quaternion of the six-freedom cascade mechanical arm is determined, and an equation is determined by using links among rotational joints for solving a reversal solution. The position reversal solution control method of the six-freedom cascade mechanical arm has the advantages of better instantaneity and high accuracy.

Description

technical field [0001] The invention relates to a position inverse solution control method of a six-degree-of-freedom series mechanical arm. Background technique [0002] The six-degree-of-freedom manipulator control system includes an upper computer, a lower computer, a motor driver, a motor, and a six-degree-of-freedom manipulator connected in sequence. The inverse solution of the position of the six-degree-of-freedom manipulator in the whole system is very important. The position inversion problem is one of the most basic and important research issues in manipulator mechanism and even mechanics. It is directly related to manipulator motion analysis, off-line programming, trajectory planning and real-time work. The inverse algorithm of the position of the robotic arm is to solve the joint angles (or joint coordinates) corresponding to the six degrees of freedom of the robotic arm at a certain point and a certain posture of the hand of the robotic arm in a fixed rectangula...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D3/00
Inventor 南余荣吴攀峰
Owner ZHEJIANG UNIV OF TECH
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