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Inverse kinematics solution method for six-degree-of-freedom serial robot

A technology of robot kinematics and degrees of freedom, applied in the direction of complex mathematical operations, etc., can solve problems such as small determinants of equation coefficients and inability to obtain corresponding analytical solutions

Active Publication Date: 2012-08-15
CHENGDU CRP ROBOT TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to provide a method for solving the inverse kinematics solution of a six-degree-of-freedom serial robot, which solves the defect that the rank of the determinant of the equation coefficient is less than the order and cannot obtain the corresponding analytical solution due to the arbitrary construction of the equation in the current solution method

Method used

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  • Inverse kinematics solution method for six-degree-of-freedom serial robot
  • Inverse kinematics solution method for six-degree-of-freedom serial robot
  • Inverse kinematics solution method for six-degree-of-freedom serial robot

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Embodiment 1

[0048] Such as figure 1 and figure 2 As shown, taking The Unimation PUMA 560 robot as an example, establish a link coordinate system, put the robot link into the coordinate system, set the fixed end as the base coordinate, and set the rotation angles of the subsequent six joint axes as variables θ 1 , θ 2 , θ 3 , θ 4 , θ 5 , θ 6 ; and write the Denavit-Hartenberg parameter table as follows:

[0049] Connecting rod parameters of PUMA560 robot

[0050]

[0051] The rotation angle value of the known initial configuration is denoted as θ s , let G(θ t ) is the rigid body transformation of the inertial coordinate system when the robot is in the initial configuration, then each joint constructs a unit motion screw, and G(θ i ) represents the rotational motion of the i-th joint, at this time all other joints except the i-th joint are fixed in the initial configuration;

[0052] The structural feature of the Unimation PUMA 560 robot is that the first three axes control t...

Embodiment 2

[0074] Such as Figure 6 As shown, the Kawasaki EE10 robot structure is taken as an example to illustrate the application of the tabu search method. The difference between this embodiment and Embodiment 1 is that when the wrist to be controlled by the robot is a non-orthogonal spherical wrist or a non-orthogonal aspheric wrist Structure, that is, when the axes of the last three joints of the robot linkage do not intersect at one point, it is very difficult to directly use the geometric method and algebraic elimination method to obtain the kinematic inverse solution, so the tabu search method is introduced in the calculation process. Its steps include:

[0075] (1) Establish the link coordinate system: put the robot link into the coordinate system, the fixed end is the base coordinate, and the rotation angles of the subsequent six joint axes are respectively set to the variable θ 1 , θ 2 , θ 3 , θ 4 , θ 5 , θ 6 ;

[0076] (2) Hypothesis θ 6 is a known value, use geometr...

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Abstract

The invention discloses an inverse kinematics solution method for a six-degree-of-freedom serial robot. The inverse kinematics solution method comprises the steps of: establishing a connecting rod coordinate system and setting variables theta 1, theta 2, theta 3, theta 4, theta 5 and theta 6; setting an initial configuration; solving theta 4, theta 5 and theta 6 by utilizing a geometric method; and eliminating theta 1, theta 2 and theta 3 by utilizing an algebra elimination method and introducing a tabu search algorithm when solving a non-orthogonal spheroid or the terminal structure of the non-orthogonal spheroid, thereby solving out corresponding numerical solutions. The inverse kinematics solution method is smart in conception and utilizes the geometric method and the algebra elimination method for comprehensive solution, thereby avoiding the problem that the rank of an equation determinant of coefficient is smaller than order caused by arbitrary establishing of equations and correctly obtaining the analytic solutions of six axes efficiently; and for complex-structure trigonometric function relationship, a linear equation in two unknowns can be effectively transformed to a linear equation with one unknown by the elimination method in the use of the geometric method, and therefore a unique corresponding analytic solution is obtained.

Description

technical field [0001] The present invention relates to a method for solving the kinematics of a robot, in particular to a method for solving the inverse solution of the kinematics of a six-degree-of-freedom series robot. Background technique [0002] At present, the solution to the inverse kinematics solution of a six-degree-of-freedom serial robot is to set the rotation angle of each axis of the robot as a variable and bring it into the forward kinematics equation f ( θ 1 , θ 2 , θ 3 , θ 4 , θ 5 , θ 3 ) = T 2 1 <mprescripts / > 1 0...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/16
Inventor 谷菲
Owner CHENGDU CRP ROBOT TECH CO LTD
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