Kinematics modeling method for articulated robot

Abstract

The invention belongs to the field of robot modeling and provides a kinematics modeling method for an articulated robot. The method comprises the following steps that the slant angle of a tail end actuator relative to the horizontal face of a pedestal coordinate system is input; according to the lengths and slant angles of all mechanical arms and through a kinematic inverse solution, the rotating angles of all joints and a pedestal of each mechanical arm are obtained; and according to the rotating angles of all the joints and the pedestal of each mechanical arm and through a forward kinematics solution, a transformational matrix of the tail end actuator relative to the pedestal coordinate system is obtained. According to the kinematics modeling method for the articulated robot, through the slant angle of the tail end actuator relative to the horizontal face of the pedestal coordinate system and the lengths of the mechanical arms, the rotating angles of all the joints and the pedestal of each mechanical arm are obtained through the kinematic inverse solution, and the pose and position of the tail end actuator relative to the pedestal coordinate system are obtained through the forward kinematics solution; and the derivation process of the modeling method is easy and pellucid, popular and easy to understand, convenient to program and suitable for reality.

Description

technical field [0001] The invention belongs to the field of robot modeling, in particular to a joint robot kinematics modeling method. Background technique [0002] As one of the greatest inventions of human beings in the 20th century, robots have made great progress after more than 50 years of development since they came out in the early 1960s. In the field of robot applications, the research on robot kinematics is to carry out robot trajectory planning, An important foundation for motion simulation. [0003] The kinematic modeling method of traditional robots is to establish a rectangular coordinate system at each joint of the manipulator, then determine the transformation matrix between adjacent rectangular coordinate systems, and then multiply all the obtained transformation matrices to finally obtain the end tool coordinate system to the base The transformation matrix of the coordinate system, so as to determine the position and orientation of the end coordinate syste...

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Problems solved by technology

[0004] The embodiment of the present invention provides a joint robot kinematics modeling method, which aims to solve the problem that the process of establishing a coordinate system in the DH modeling method is too complicated and the amount of calculation is too large

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