Method and system for solving inverse kinematics of hyper-redundant robots on basis of sectioning geometric processes

Abstract

The invention discloses a method for solving inverse kinematics of hyper-redundant robots on the basis of sectioning geometric processes. The method includes sectioning mechanical arms of the robots with n degrees of freedom into shoulders, elbows and wrists by the aid of a system; solving and determining the locations of various nodes of head-end nodes S<0> of the shoulders, cross nodes E<0> of the shoulders and the elbows and cross nodes W<0> of the elbows and the wrists according to tail-end nodes T of the wrists by the aid of the system; solving angles of various joints of the shoulders by the aid of the system; solving angles of various joints of the elbows by the aid of the system; solving angles of various joints of the wrists by the aid of the system. The invention further provides the system for solving the inverse kinematics of the hyper-redundant robots on the basis of the sectioning geometric processes. The method and the system have the advantages that the method and the system start to solve the inverse kinematics according to the locations of the various selected key nodes on the basis of the target locations, reasonable structures of the hyper-redundant robots can be determined in 3D (three-dimensional) spaces according to the expected tail-end locations and gestures of the hyper-redundant robots, and the method and the system are extremely high in computational efficiency and are convenient and speedy; the inverse kinematics can be uniquely solved quite accurately, and accordingly the method and the system can be widely applied to the field of inverse kinematics of robots.

Description

Technical field [0001] The invention relates to the field of inverse kinematics of robots, in particular to a method and system for solving inverse kinematics based on a segmented geometric method of a super-redundant manipulator formed by connecting universal joints in series. Background technique [0002] Compared with traditional manipulators, hyper-redundant manipulators have more degrees of freedom, and show extreme flexibility in a complex and multi-obstacle environment. Therefore, they are widely used in the overhaul, maintenance, and maintenance of large equipment in the nuclear power and aerospace fields. Rescue and other tasks. Motion planning is an important and difficult point in the research of hyper-redundant robot mechanism, but inverse kinematics solution is a necessary part of motion planning. Generally, the inverse kinematics solving methods of redundant manipulators can be divided into three categories: (1) algebraic method (2) iterative method (3) geometric m...

AI Technical Summary

Problems solved by technology

The artificial neural network method is widely used in the inverse solution of industrial manipulators, but the size of the required training set will vary significantly with the number of degrees of freedom, and may not be able to meet the real-time requirements due to the extension of the learning process

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