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Multi-DOF manipulator independent grabbing inverse solution engineering algorithm

An inverse solution engineering and manipulator technology, applied in the field of multi-degree-of-freedom manipulators in the field of inverse solution engineering algorithms for autonomous grasping, can solve problems such as difficulty in positioning and grasping the end of the manipulator, heavy mental burden on operators, and fatigue-prone operation efficiency.

Active Publication Date: 2015-11-04
广州霞光技研有限公司
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Problems solved by technology

[0005] The present invention aims at the problems in the prior art that the control system of the manipulator adopts a single-joint remote control method, which leads to difficulties in positioning and grasping at the end of the manipulator, resulting in a large mental burden for the operator, easy fatigue and low operating efficiency, etc., and provides a method that can realize Engineering algorithm for inverse kinematics solution of multi-joint linkage of manipulator

Method used

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  • Multi-DOF manipulator independent grabbing inverse solution engineering algorithm
  • Multi-DOF manipulator independent grabbing inverse solution engineering algorithm
  • Multi-DOF manipulator independent grabbing inverse solution engineering algorithm

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Embodiment 1

[0035] A multi-degree-of-freedom manipulator autonomously grasps an inverse solution engineering algorithm, which simplifies a space problem into a plane problem and simplifies the process of finding an inverse solution. The method includes the following steps (1) to (4):

[0036] (1) Judging and grabbing the target point P(X, Y, Z) based on the actual target image, without considering the target pose;

[0037] (2) According to the positive solution method of the manipulator, set the joint parameters of the 4-DOF manipulator as (θ 1 ,θ 2 ,θ 3 ,θ 4 ), the fourth joint relies on manual adjustment, so the relationship between the target point and the first three joints is obtained; if it is 5 degrees of freedom, the relative positions of the second and third joints, or the third and fourth joints can be fixed, simplified as 4 degrees of freedom manipulator;

[0038] (3) When finding the inverse solution, first turn around and find θ 1 , the subsequent solution is simplified ...

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Abstract

The present invention relates to the technical field of robot control and particularly relates to a multi-DOF manipulator independent grabbing inverse solution engineering algorithm. When each joint angle is calculated, firstly a waist rotation angle is calculated and then is converted into a plane problem, the solution efficiency is facilitated, the problems of complexity brought by an inverse matrix solution way and large mental burden and easy fatigue of an operator are avoided, and the grabbing efficiency is improved further. In addition, according to the algorithm, a target position is obtained by using a binocular vision camera unit or judged artificially such that a host computer control system determines the three-dimensional coordinate of a suspected object relative to a vehicle body and a corresponding control command is sent back, the accurate positioning and grab of the target can be realized further, and thus the grabbing efficiency is improved further.

Description

technical field [0001] The invention belongs to the technical field of robot control, and in particular relates to a multi-degree-of-freedom manipulator autonomous grasping reverse engineering algorithm. Background technique [0002] With the continuous development of science and technology, and the rapid increase in the fields where robots replace human beings, the development of various robots has become a topic of common concern to all countries and militaries in the world. Since the quality of the robot's job target is unknown, the placement of the robot is highly random, and accidents may occur at any time during the grasping process. Therefore, using robots to perform operations reduces the difficulty of handling and avoids accidents by staff, which is of great importance to improving the overall technology. Technical level and operational efficiency are of great significance. [0003] The existing vehicle-mounted manipulator robots in the world include crawler "troll...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1607
Inventor 蒋梁中张成
Owner 广州霞光技研有限公司
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