Planar three-degrees-of-freedom space robot inverse kinematics solution method

A space robot, inverse kinematics technology, applied in data processing applications, prediction, calculation and other directions, can solve the problems of long calculation time, unable to meet the requirements of rapidity, and narrowing the inverse solution range of redundant robots, to meet the rapidity , the solution method is simple and efficient, and the calculation amount is small.

Inactive Publication Date: 2016-12-14
NORTHWESTERN POLYTECHNICAL UNIV
View PDF3 Cites 13 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the above methods are based on certain optimization criteria to narrow the range of inverse solutions for redundant robots, and then obtain the desired inverse solutions through numerical methods. These algorithms are generally not global, and the calculation takes a long time, which cannot meet the needs of robot control. speedy requirements

Method used

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
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Planar three-degrees-of-freedom space robot inverse kinematics solution method
  • Planar three-degrees-of-freedom space robot inverse kinematics solution method
  • Planar three-degrees-of-freedom space robot inverse kinematics solution method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0016] The technical solution adopted by the present invention to solve the technical problem is: firstly adopt the virtual manipulator method to equivalent the general plane three-degree-of-freedom space robot to a ground-fixed base robot, then analyze the self-motion characteristics of the plane three-degree-of-freedom space robot, Given the initial base attitude angle and the position of the end manipulator, deduce the geometric relationship expressions between the joint angles of the equivalent space robot, and finally solve all the three joint angle combinations, that is, all kinematics Inverse solution.

[0017] The specific solution method is as follows:

[0018] (1) For the general planar three-degree-of-freedom space robot, its structural form is unique, including a floating base, three connecting rods, three joint shafts and an end manipulator. They are located on the same plane, and the first One connecting rod is connected to the floating base and two adjacent con...

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

PUM

No PUM Login to view more

Abstract

The invention provides a planar three-degrees-of-freedom space robot inverse kinematics solution method. First, a general planar three-degrees-of-freedom space robot is equivalent to a ground fixed base robot using a virtual mechanical arm method; then, the self-motion characteristics of the planar three-degrees-of-freedom space robot are analyzed, and the geometric relational expression between joint angles of the equivalent space robot is deduced under the condition that the initial base attitude angle and the end manipulator position are given; and finally, all combinations composed of three joint angles, namely, all kinematics inverse solutions, are obtained. Through the method, all kinematics inverse solutions can be calculated out simply and efficiently under the condition that the position of an end manipulator of a planar three-degrees-of-freedom redundant space robot is given, and thus, robot path planning problems related to obstacle avoidance, singular avoidance, joint limit avoidance and other optimization indexes can be studied.

Description

technical field [0001] The invention relates to a method for solving inverse kinematics of a space robot, which belongs to the field of robot path planning. Background technique [0002] In recent years, with the advancement of space science and technology, the exploration of unknown stars and the development of outer space resources have become an important direction for the development of human civilization. As a result, more and more space missions need to be completed, such as the establishment and maintenance of space stations, the recovery of faulty satellites, scientific experiments in the space environment, and the cleaning of space junk, etc. It is impossible for astronauts to perform difficult space missions in such a harsh environment. Therefore, it has become an inevitable trend to replace astronauts with space robots to complete space tasks. In order to optimize the kinematics of space robots, space robots with redundant degrees of freedom are generally used, ...

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

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G06Q10/04
CPCG06Q10/047
Inventor 宁昕武耀发岳晓奎袁建平
Owner NORTHWESTERN POLYTECHNICAL UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap