Novel robot kinematics modeling method

A technology of robot kinematics and modeling method, which is applied in the field of robot kinematics modeling and can solve the problems of cumbersome and complicated modeling methods.

Inactive Publication Date: 2013-05-08
BEIJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

[0005] The purpose of the present invention is to provide a simple and easy-to-understand kinematics modeling method for the cumbersome and complicated shortcomings of the existing kinematics modeling method

Method used

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Embodiment 1

[0057] According to the robot kinematics modeling method established in the present invention, the 8-degree-of-freedom modular robot is used as the research object for verification.

[0058] The modular robot includes 8 degrees of freedom, the structure is as Figure 2-A As shown, each degree of freedom of the robot is a rotational attribute. According to the proposed modeling method, the center of the robot root is first selected as the origin of the robot reference coordinate system, the Z axis of the reference system is perpendicular to the plane where the root is located, the X axis is perpendicular to the Z axis and horizontally to the right, and the Y axis is obtained from the Z axis and the X axis Determined based on the right-handed coordinate system. The origin of the end tool coordinate system is set at the center of the end of the robot, and its X, Y, and Z axes are selected to be in the same direction as the reference coordinate system's X, Y, and Z axes. The mod...

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Abstract

The invention discloses a novel robot kinematics modeling method. The method comprises the following steps of: establishing a robot reference coordinate system and an end-of-arm tooling coordinate system only, and representing robot kinematics model parameters through a position vector and a pointing vector; deducing a transformation relation between joints by utilizing an implied joint coordinate system; and solving a pose transformation matrix and a Jacobian matrix of the robot end-of-arm tooling coordinate system relative to the reference coordinate system under the specific joint position through the matrix transformation relationship. By the novel robot kinematics modeling method, the robot kinematics modeling is realized, the modeling process is simple and high-efficiency, only the reference coordinate system and the end-of-arm tooling coordinate system are required to be modeled, and the method has an intuitive expression form and clear physical significance.

Description

technical field [0001] The invention relates to a robot kinematics modeling method, belonging to the technical field of robot modeling. Background technique [0002] With the rapid development of robot technology, the application fields of robots are becoming more and more extensive. In the field of robot application, the kinematic characteristics of the robot are the basis of robot operation and control, and kinematic modeling is the premise of robot kinematic analysis. In addition, with the development of the application field of robots, the popularity of robot operators appears, and the robot itself presents diversification and multi-degree-of-freedom development. Therefore, it is of great significance to carry out research on efficient, general and easy-to-understand kinematic modeling methods. [0003] Scholars at home and abroad have carried out related research work around robot kinematics modeling. The traditional robot kinematics modeling method is mainly to selec...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
Inventor 贾庆轩吴楚锋陈钢孙汉旭禇明
Owner BEIJING UNIV OF POSTS & TELECOMM
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