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

A control method and a technology of a robotic arm, applied in the direction of position/direction control, non-electric variable control, control/adjustment system, etc., can solve problems such as low accuracy and poor real-time performance, and achieve small calculations and satisfy real-time performance Accuracy, practical effect of the method

Active Publication Date: 2015-06-03
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 drawings.

[0030] Reference figure 1 , A six-degree-of-freedom tandem manipulator's position inverse solution control method, which is characterized in that dual quaternions can be used to express the properties of rotation and translation of three-dimensional objects. Each rotation joint of the six-degree-of-freedom manipulator is converted by a dual quaternion. In three-dimensional space, the unit vector u = (u x , U y , U z ) The rotation of the angle θ can be expressed as a unit quaternion:

[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). A displacement in the three-dimensional space can be synthesized by rotation and translation. The unit quaternion q represents rotation, p=(p x , P y , P z ) Represents the translation vector, then e...

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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 entire system is very important. The problem of inverse position solution is the most basic and one of the most important research problems in manipulator mechanism and even mechanics. It is directly related to manipulator motion analysis, offline programming, trajectory planning and real-time work. The inverse algorithm for 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 in the fixed Cartesian coordinate sp...

Claims

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Application Information

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