Inverse-kinematics universal solving method of robot with multi-degree of freedom
A technology of inverse kinematics and kinematic equations, applied in the field of modeling methods and weighted space vector projection methods, can solve problems such as inconsistency and non-universality
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Method used
Image
Examples
Embodiment Construction
[0054] The present invention will be described in more detail below in conjunction with the accompanying drawings.
[0055] The main solution process is as follows figure 1 shown.
[0056] The general kinematics model of the nR robot used is attached figure 2 As shown, it consists of a rotational joint with n degrees of freedom and a rigid body link. attached figure 2 Medium, J i (i=1,2...n) is the center of the i-th rotary joint; L i (i=0,1,2...n) is the i-th rigid body; Σ i (i=1,2...n) is L i fixed coordinate system, Σ 0 is the base coordinate system; a i (i=0,1,2...n) is the vector from the center of the i-th revolving joint to the center of the i+1-th revolving joint. Since the joint parameters are fixed, the vector a i-1 with vector a i Angle β between i Rotation angle θ with the i-th revolving joint i Fixed numerical relationship, vector a i The norm of the rigid body L i The shape determination is a fixed number, and its change is related to the rotation...
PUM
Abstract
Description
Claims
Application Information
- R&D Engineer
- R&D Manager
- IP Professional
- Industry Leading Data Capabilities
- Powerful AI technology
- Patent DNA Extraction
Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.
© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com