Mechanical arm kinematics formal analysis method

An analysis method and a technology of a manipulator, applied in the field of manipulators, can solve problems such as inaccurate results and complex calculations
CN104772773AActive Publication Date: 2015-07-15CAPITAL NORMAL UNIVERSITY
1 Cites 19 Cited by

Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
CAPITAL NORMAL UNIVERSITY
Publication Date
2015-07-15

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

The invention relates to a mechanical arm kinematics formal analysis method. The method comprises the steps of 1, determining structural parameters of a mechanical arm mechanism; 2, using high-order logical language for building a mechanical arm kinematics logical model; 3, using a logical formula for describing kinematics constraints or attributes needing to be verified; 4, enabling the mechanical arm mechanism kinematics logical model and the kinematics constraints or attributes needing to be verified to form a logical proposition; 5, utilizing a logical reasoning engine for proving whether the logical proposition is true or not; if the logical proposition is true, it represents that the model meets the kinematics constraints or have the attributes; if not, it represents that the model does not meet the kinematics constraints or does not have the attributes. According to formal verification, on the basis of system formal specifications or attributes, the correctness of the system is verified by using the mathematical method, and the verified attributes are precise and complete.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The invention relates to the technical field of manipulators, in particular to a formalized analysis method for the kinematics of a manipulator. Background technique

[0002] In recent years, robotic arm technology has entered a period of rapid development. Robots with mechanical arms are widely used in various fields such as industry, scientific investigation, military, emergency rescue, medical treatment and household use. However, it is not uncommon for robots to fail or even have safety accidents when performing tasks. It is recognized that there is a significant gap between the verification technology of the robot and the design technology. A small loophole in the robot design may cause huge economic losses and even endanger personal safety. Therefore, designers must spend a lot of time and energy analyzing and verifying the design in order to find errors in the robot design before the product is formed.

[0003] At present, the commonly used ve...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More