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A general solution method of inverse kinematics for five-degree-of-freedom tandem robot

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

Active Publication Date: 2018-07-24
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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  • A general solution method of inverse kinematics for five-degree-of-freedom tandem robot
  • A general solution method of inverse kinematics for five-degree-of-freedom tandem robot
  • A general solution method of inverse kinematics for five-degree-of-freedom tandem robot

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Embodiment Construction

[0057] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0058] like Figure 1-2As 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.

[0059] According to the exponential product model, the robot kinematics equation can be expressed as:

[0060]

[0061] and

[0062]

[0063] 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 instantan...

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Abstract

The invention discloses a general solution method for inverse kinematics of a five-degree-of-freedom series robot, which belongs to the field of robot inverse kinematics. The invention proposes a simple and easy-to-calculate general solution method for inverse kinematics on the basis of an exponential product model , the invention mainly combines the basic properties of the screw theory with the Rodrigues rotation expression to simplify the inverse solution solution process, and realizes that under the condition of satisfying the Pieper constraint, the relationship between the first two joint axes can be obtained directly without considering the relationship between the first two joint axes The angle values ​​of each joint, and the five joint angles only need two expressions to be expressed uniformly, which provides convenience for the practical application of this type of robot.

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 Patents(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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