Self-motion angle calculating method facing SRS anthropomorphic arm

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...

AI Technical Summary

Problems solved by technology

Traditional inverse kinematics solutions for redundant degrees of freedom manipulators, such as gradient projection methods, take a long time, or artificially degenerate a joint angle into a non-redundant degree of freedom problem

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