Solving method for six-degree-of-freedom series robot inverse kinematics solution

Abstract

The invention discloses a solving method for a six-degree-of-freedom series robot inverse kinematics solution. The method comprises the steps that connecting rod parameters are read in and a robot connecting rod coordinate system model is established; the joint positions of the tail ends of connecting rods are known, and joint position constrained equations are established; all the joint positions are determined according to all the joint position constrained equations; the attitude constraint equations of all joint coordinate systems of a robot are established; the solutions of the joint position coordinates obtained before are substituted in the attitude constraint equations respectively, and each group of joint variable intermediate values are solved according to the attitude constraint equations; and the joint variable intermediate values are analyzed, and an optimal joint variable solution is selected. The positions and the attitudes in the robot inverse kinematics solution are separately solved by adopting the spatial geometry theory so that complexity of geometric inverse kinematics solution operation can be greatly reduced, and the method can be applied to the field of robot space obstacle avoidance.

Description

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AI Technical Summary

Benefits of technology

This technology improves how robots work together more efficiently than previous methods like linear motion mechanisms or rotational motors. It achieves this through accurately analyzed movements made up of multiple rigid links connected at their ends called bones. By doing these calculations, it becomes easier for robotic systems to analyze complex three dimensional structures without complicated mathematical equations. Additionally, the use of space linking techniques allows for precise control over movement within an area while maintaining stability during collision detection tasks. Overall, this new approach makes robotic processes faster and safer from collisions caused by external factors such as humans' physical contact.

Problems solved by technology

This patented technical problem addressed in this patents relates to finding ways to improve the performance or efficiency of robotic systems that use 6 degrees -of freedom (DOF) motions like linear actuators. These techniques involve combining different types of motion movements together to achieve specific tasks without relying solely upon one type of movement alone.

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