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

Inactive Publication Date: 2014-07-02
HARBIN ENG UNIV
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Problems solved by technology

In 2006, some scholars proposed to split the series kinematic chain into a combination of several simple parts, but this method is only suitable for some special cases of decoupling
In the past, the methods used for mathematical modeling of the inver

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  • Inverse-kinematics universal solving method of robot with multi-degree of freedom
  • Inverse-kinematics universal solving method of robot with multi-degree of freedom
  • Inverse-kinematics universal solving method of robot with multi-degree of freedom

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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...

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Abstract

The invention provides an inverse-kinematics universal solving method of a robot with multi-degree of freedom. The common space theory is used for setting a universal kinematical equation of an nR robot, the weighted space vector projection method is used for analyzing the relationship between space vector projection values and revolute joint angles of a space robot, projection weighted values of joint vectors on robot tail end vectors are used as the basis for regulating the tail end pose of the robot, and projection weighted values of joint vectors are determined to achieve half-analytic solution of the inverse kinematics. The method achieves kinematical salvation of the nR robot and also finishes the space obstacle avoidance task. The method can be widely applied to series type space nR robots, has the advantages of being high in calculation speed and high in solving precision, provides control input parameters for series type robots, and meets the requirement for robot kinematics solving operation on industrial sites.

Description

technical field [0001] The invention provides a semi-analytic solution method for nR robot kinematics, in particular, it combines the modeling method of robot joints and the weighted space vector projection method. Background technique [0002] With the wide application of industrial robot technology, the application of space nR series mechanism is of great significance. The inverse kinematics solution of the series mechanism is a prerequisite for the control calculation of the series robot. It is directly related to the off-line programming, trajectory planning, and real-time control of the robot. It occupies an important position in robotics. Only through the kinematics inverse solution can the space pose In order to realize the programming control of the end effector of the robot according to the space pose (such as straight line trajectory and arc trajectory, etc.) as the joint variable. [0003] In the kinematics of series mechanisms, the inverse kinematics solution of...

Claims

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Application Information

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IPC IPC(8): G05D3/00
Inventor 魏延辉杜振振王泽鹏何爽周卫祥简晟琪胡文彬张庆
Owner HARBIN ENG UNIV
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