Robot tail end position and gesture analysis method

Abstract

The invention relates to a robot tail end position and gesture analysis method. A transfer matrix between axes is expressed by four configuration parameters including the connecting rod lengths, the joint intersection angles, the connecting rod distances and the connecting rod intersection angles, and the gesture of the robot tail end relative to a reference coordinate system is expressed by rotation angles of three-time axis rotation. The method comprises the steps that the position and the gesture of the robot tail end relative to the reference coordinate system are derived by the use of the transfer matrix between the axes and the three-time axis rotation through the forward kinematics; the tail end predicted position and the tail end practical position are compared, and the speed correction quantity is calculated; the tail end expected speed is calculated by the use of an angular speed conversion matrix, the speed correction quantity is combined with the tail end expected speed, and then the tail end speed is obtained; the obtained speed of the robot tail end relative to the reference coordinate system is converted into angular speeds of joints by the use of the inverse kinematics; and the angular speeds of the joints are controlled within the maximum speed limit, and the angular speeds of the joints are combined with the current position, so that the rotation angles needed by the joints are obtained. The robot tail end position and gesture analysis method is simple in treatment process and can guarantee a certain accuracy.

Description

technical field [0001] The invention relates to the technical field of robot kinematics, in particular to a method for analyzing the position of a robot end. Background technique [0002] In the research of multi-degree-of-freedom robot precision and full feedback control, terminal pose detection is a problem that must be solved. Using advanced multi-dimensional detection instruments to measure the multi-dimensional pose of the end is the most direct way, but the equipment is too expensive, which is not conducive to engineering In actual promotion, many scholars study the fusion of vision or image and ultrasonic sensors to measure the robot's end pose. However, the detection accuracy of this method is inversely proportional to the target's range of motion, and it cannot maintain the corresponding accuracy in a large range. The data processing process is more cumbersome. Contents of the invention [0003] The technical problem to be solved by the present invention is to pr...

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Problems solved by technology

[0002] In the research of multi-degree-of-freedom robot precision and full feedback control, terminal pose detection is a problem that must be solved. Using advanced multi-dimensional detection instruments to measure the multi-dimensional pose of the end is the most direct way, but the equipment is too expensive, which is not conducive to engineering In actual promotion, many scholars study the fusion of vision or image and ultrasonic sensors to measure the robot's end pose. However, the detection accuracy of this method is inversely proportional to the target's range of motion, and it cannot maintain the corresponding accuracy in a large range. The data processing process is more cumbersome