Inverse kinematics general solving method of five-degree-of-freedom serial robot

A technology of inverse kinematics and robotics, applied in the general solution field of inverse kinematics of five-degree-of-freedom serial robots, which can solve time-consuming analysis and calculation problems

Active Publication Date: 2017-06-13
SHANDONG UNIV OF SCI & TECH
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Problems solved by technology

At present, there are many sub-problem solving methods, and each sub-problem has a different solution method, which requires time-consuming analysis and calculation during application, which brings a lot of inconvenience to actual development and application.

Method used

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  • Inverse kinematics general solving method of five-degree-of-freedom serial robot
  • Inverse kinematics general solving method of five-degree-of-freedom serial robot
  • Inverse kinematics general solving method of five-degree-of-freedom serial robot

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Embodiment Construction

[0055] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0056] like Figure 1-2 As shown, for a 5R robot, including shoulder joint axis 1, elbow joint axis 2, first wrist joint axis 3, second wrist joint axis 4, and third wrist joint axis 5, the three joint axes of the wrist intersect at a point r 3 , the axes of the shoulder and elbow joints are out of plane with each other.

[0057] According to the exponential product model, the robot kinematics equation can be expressed as:

[0058]

[0059] and

[0060]

[0061] Among them, the subscripts t and w represent the end tool coordinate system and the world coordinate system respectively, and θ is the rotation angle vector of each joint θ=[θ 1 ,...,θ 5 ], g wt (0) and g wt (θ) respectively represent the transformation relationship of the end tool coordinate system relative to the world coordinate system in the initial state and the instantane...

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Abstract

The invention discloses an inverse kinematics general solving method of a five-degree-of-freedom serial robot and belongs to the field of inverse kinematics of the robot. The invention provides the inverse kinematics general solving method, which has a simple form and is easy to calculate, on the basis of an exponential product model; basic properties of a screw theory and Rodrigues rotary expression are mainly combined to simplify an inverse solution solving process; under the condition of meeting Pieper constraints, an angle value of each joint can be directly obtained without the need of considering a relation between former two joint axes; five joint angles can be uniformly expressed through only two expression formulas, and convenience is provided for robots in actual application.

Description

technical field [0001] The invention belongs to the field of robot inverse kinematics, and in particular relates to a general solution method for inverse kinematics of a five-degree-of-freedom serial robot. Background technique [0002] Robot kinematics is to study the relationship between the robot's terminal posture and the angles of each joint. Among them, inverse kinematics is to discuss the corresponding joint angle value under the given terminal posture. The solution accuracy of inverse kinematics directly affects the control parameters of the robot, that is, it affects the final motion accuracy of the robot. For serial robots, the inverse solution is not unique, it is related to the structure of the robot itself. Robot inverse solutions include two categories: closed solutions and numerical solutions, in which numerical solutions are time-consuming and have low precision; while closed solutions have high precision and fast calculation, but they need to meet the Piepe...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
CPCG06F30/20
Inventor 王海霞卢晓李玉霞樊炳辉江浩朱延正
Owner SHANDONG UNIV OF SCI & TECH
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