Method and device for determining and correcting inverse kinematics solving method error of mechanical arm

Abstract

The invention provides a method and device for determining and correcting an inverse kinematics solving method error of a mechanical arm. The method comprises the steps of (1) conducting error solvingon an inverse kinematics solving method to be detected to obtain an error solving result and establishing an error model according to the error solving result; (2) acquiring motion target data of a target object; (3) conducting inverse kinematics computation through the inverse kinematics solving method to be detected according to the motion target data to obtain joint variable data; (4) determining the current error of the inverse kinematics solving method to be detected through error solving according to the joint variable data; and (5) correcting the joint variable data through the error model according to the current error. Through the scheme, the error model is established before operation; the current error is determined through error solving during operation; corresponding data correction is conducted through the error model. Thus, the technical problems that the inverse kinematics solving method error cannot be determined on line in real time and data errors cannot be corrected in time by means of an existing method are solved.

Description

technical field [0001] The invention relates to the technical field of motion control of a mechanical arm, in particular to a method and device for determining and correcting errors of an inverse kinematics solution method of a mechanical arm. Background technique [0002] In the field of manipulator motion control technology, it is often necessary to solve the forward kinematics and inverse kinematics to determine the specific mapping relationship between the working space and the joint space of the manipulator, and then establish a more accurate kinematic model of the manipulator. Specific control over the movement of the robotic arm. [0003] The above-mentioned forward kinematics solution can usually include calculating and determining the position and attitude information of the end effector of the manipulator according to each joint variable of the manipulator by using the forward kinematics solution method; the above-mentioned inverse kinematics solution can usually i...

AI Technical Summary

Problems solved by technology

[0006] The implementation mode of this application provides a method and device for determining and correcting the error of the inverse kinematics solution method of a manipulator, so as to solve the technical problem that the error of the inverse kinematics solution method cannot be determined online in real time and the data error cannot be corrected in time.

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