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A kinematics inverse solution method for a six-degree-of-freedom wrist offset series robot

A technology of robot kinematics and inverse kinematics solution, which is applied in the field of inverse kinematics solution of robots, and can solve problems such as large amount of calculation and poor real-time performance.

Active Publication Date: 2018-12-18
FOSHAN HUASHU ROBOTICS CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The existing algorithm for solving the inverse kinematics of a six-degree-of-freedom wrist offset robot uses geometric methods, algebraic elimination methods, and tabu search methods or hill-climbing optimization methods. The controller causes a large burden, and the real-time performance is poor

Method used

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  • A kinematics inverse solution method for a six-degree-of-freedom wrist offset series robot
  • A kinematics inverse solution method for a six-degree-of-freedom wrist offset series robot
  • A kinematics inverse solution method for a six-degree-of-freedom wrist offset series robot

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Embodiment Construction

[0049] Reference figure 1 with 2 As shown, a six-degree-of-freedom wrist offset tandem robot referred to in the present invention includes a base 1, a first joint connected to the base 2, a second joint 3 connecting a first link 4 and a base 1, The first link 4, the third joint 5 connecting the first link 4 and the second link 6, the fourth joint 7 connected to the second link 6, the fifth joint connecting the second link 6 and the wrist 8 and wrist joint 9.

[0050] Reference image 3 Shown, according to figure 1 with 2 The six-degree-of-freedom wrist-offset tandem robot draws a schematic diagram of the spatial coordinates, taking the intersection of the first joint 2 rotation axis and the second joint 3 rotation axis as the origin, the straight line where the first joint 2 rotation axis is located is the coordinate system Z axis, and the second joint 3 The straight line where the rotation axis is located is the Y axis of the coordinate system, and the base coordinate system i...

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Abstract

The invention discloses a method for solving the inverse kinematics solution of a six-degree-of-freedom wrist offset serial robot. Set the approximate solution of the inverse kinematics solution of the series robot and the iterative starting point, and obtain the numerical solution of the inverse solution of the kinematics of the six-degree-of-freedom wrist offset series robot that meets the accuracy through continuous iterative approximation, and the convergence speed is fast. The amount is small, which reduces the calculation amount of the robot controller and improves real-time performance.

Description

Technical field [0001] The invention relates to a method for solving inverse kinematics of a robot, in particular to a method for solving inverse kinematics of a six-degree-of-freedom wrist offset tandem robot. Background technique [0002] The inverse kinematics of the robot is the premise and foundation of its trajectory planning and control. In general, a six-degree-of-freedom tandem robot needs to obtain an analytical solution, usually using an unbiased wrist, but it cannot achieve a 360-degree rotation of the middle joint, and the structural strength is low. Therefore, in the actual production process, a six-degree-of-freedom wrist offset robot is usually used instead, but limited to the current mathematical tools, the above-mentioned inverse kinematics solution usually has no analytical solution, only a numerical solution. The existing algorithms for solving the inverse kinematics of a six-degree-of-freedom wrist-biased robot use geometric methods and algebraic elimination...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1607G05B2219/39028G05B2219/39062G05B2219/39417Y10S901/02G06F17/16G06F30/00
Inventor 周星陈统书黄石峰陈思敏杨林邓旭高杨海滨王群
Owner FOSHAN HUASHU ROBOTICS CO LTD