Self-motion angle calculating method facing SRS anthropomorphic arm

A calculation method and self-motion technology, applied in the direction of control using feedback, etc., can solve problems such as time-consuming, and achieve the effect of simple algorithm and fast calculation speed

Inactive Publication Date: 2015-05-20
BEIHANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Traditional inverse kinematics solutions for redundant degrees of freedom manipulators, such as gradient projection

Method used

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  • Self-motion angle calculating method facing SRS anthropomorphic arm
  • Self-motion angle calculating method facing SRS anthropomorphic arm
  • Self-motion angle calculating method facing SRS anthropomorphic arm

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Experimental program
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Effect test

Embodiment Construction

[0049] The present invention will be further described in detail below in conjunction with accompanying drawings and examples.

[0050] 1, image 3 Shown is the mechanical arm used to realize the present invention, which is a seven-degree-of-freedom mechanical arm in SRS configuration. The distance l between the center of rotation of the shoulder joint of the robot arm and the axis of rotation of the elbow joint 1 =270, the distance l from the rotation center of the elbow joint to the rotation center of the wrist joint 2 =230.

[0051] 2. Figures 4(a-g) and 5(a-g) are schematic diagrams of joint motion curves of inverse kinematics joints of redundant manipulators implementing the present invention. In this specific example, the task of the robotic arm is to draw an arc and a line. According to the pose of the interpolation point, the inverse kinematics method of the present invention is used to calculate the motion angle of each joint, and the calculated result is transmit...

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PUM

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Abstract

The invention provides a self-motion angle calculating method facing an SRS anthropomorphic arm. The method comprises the following steps of establishing a mathematical model of the SRS configuration redundancy mechanical arm and establishing a coordinate system of shoulder joints, elbow joints and wrist joints according to the structural characteristics, calculating the self-motion angle when the pose of the tool coordinate system is given by the self-motion angle in the current state through the PID algorithm, calculating the joint space motion angle by the self-motion angle in the second step and the tool coordinate system pose and transmitting the result obtained in the third step to a lower computer controller to drive the mechanical arm and realize the motion of the given pose of the tool coordinate system. An inverse kinematics algorithm of the redundancy mechanical arm is given, compared with the traditional algorithm, the algorithm is simple, the calculating speed is fast, the analytical solution can be obtained, the solving difficulty is reduced, and the joint motion is optimized in a certain extent.

Description

technical field [0001] The invention relates to the field of redundant mechanical arm kinematics and control, in particular, it is a method for calculating the self-motion angle of an SRS humanoid arm. Background technique [0002] The manipulator is an important tool to realize the connection between the main body of the robot system and the end effector. The range of motion and load capacity of the manipulator directly affect the working ability of the robot end. The inverse kinematics problem of the redundant manipulator refers to the determination of the joint angle of the manipulator after the end pose of the manipulator is known. Given the end pose of a redundant degree of freedom manipulator, there are infinitely many points corresponding to it in the joint space, and the set of these points is an n-m dimensional manifold in the joint space. The redundant degree of freedom manipulator can move freely in this manifold without affecting the end pose. This change is cal...

Claims

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Application Information

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IPC IPC(8): G05D3/12
Inventor 胡宁胡磊胡玥
Owner BEIHANG UNIV
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