Quick and simple method for solving inverse kinematics of six-degree-of-freedom mechanical arm

Abstract

The invention relates to the field of inverse kinematics of mechanical arms, in particular to a quick and simple method for solving inverse kinematics of a six-degree-of-freedom mechanical arm. A coordinate of an intersection of three rear joint shafts is determined according to the position and a posture matrix of the tail end of the mechanical arm; angles which three front joint shafts rotate by are solved in a geometrical method; the angles which the three rear joint shafts rotate by are solved according to an Euler angle transformation matrix. The concept put forward in the method can be applied to six-degree-of-freedom mechanical arms which have different geometrical structures but belong to the same type. According to the method, the solving process of the inverse kinematics of the mechanical arm is greatly simplified, the solving speed of the inverse kinematics is improved, and requirements for quickness and accuracy in the real-time control of the industrial mechanism arm can be met.

Description

technical field [0001] The invention belongs to the field of inverse kinematics of a mechanical arm, and in particular relates to a method for estimating an inverse solution angle of a six-degree-of-freedom mechanical arm kinematics. Background technique [0002] The inverse kinematics of the manipulator is to calculate the angle value of each joint by knowing the position and attitude of the end of the manipulator. It is the reverse process of the forward kinematics problem. The forward kinematics problem is relatively simple and has a unique solution, while the inverse kinematics The solution is relatively complicated, and there may be multiple or no solutions. Generally, the more non-zero parameters of the manipulator link, the more ways to achieve a specific goal. These link parameters depend on the geometric structure of the manipulator, so the more complex the manipulator structure is, the solution of inverse kinematics will be The more complicated it is, for a six-de...

AI Technical Summary

Problems solved by technology

The iterative nature of the numerical solution makes the solution speed greatly slowed down, which is not conducive to the real-time control of modern industrial manipulators, and the closed solution is what we hope to obtain, but not any six-degree-of-freedom manipulator has a closed solution, only if certain conditions are met The six-degree-of-freedom manipulator has a closed solution

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