Method and device for determining and correcting error of inverse kinematics solution method of manipulator

Abstract

A mechanical arm inverse kinematics solution error determination and correction method and device. Prior to operation an error model is established, during operation a current error is determined via error solution, and corresponding data correction is performed by using the error model, solving the technical problem that conventional methods cannot determine inverse kinematics solution errors in real time and in-process, and cannot achieve timely correction of data errors. The method comprises: performing error solution on an inverse kinematic solution under test to obtain an error solution result, and establishing an error model according to the error solution result (S11); obtaining motion target data of a target object (S12); performing, according to the motion target data and by using the inverse kinematic solution under test, inverse kinematics calculations to obtain data of joint variables (S13); performing an error solution according to the joint variables data to determine a current error of the inverse kinematic solution under test (S14); and correcting, according to the current error, the joint variables data by using the error model (S15).

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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