A geometric solution method for inverse kinematics of 6r robot based on screw theory
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A technology of robot kinematics and inverse kinematics, which is applied to manipulators, complex mathematical operations, program-controlled manipulators, etc., and can solve problems such as unsuitable six-degree-of-freedom robots
What is AI technical title?
AI technical title is built by PatSnap AI team. It summarizes the technical point description of the patent document.
A technology of robot kinematics and inverse kinematics, which is applied to manipulators, complex mathematical operations, program-controlled manipulators, etc., and can solve problems such as unsuitable six-degree-of-freedom robots
CN107756400BActive 📅 Publication Date: 2020-12-04BEIJING UNIV OF TECH
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[0017] The following is attached Figure 1-3 The present invention will be described in detail.
[0018] S1 determines the kinematics parameters of the 6R robot and establishes a positive kinematics model
[0019] Such as image 3 As shown, the position vector and rotation vector of each joint in the known initial state of the 6R robot are as follows:
[0020]
[0021]
[0022] where r i , 1≤i≤6 means the position vector of joint i in the base coordinate system, ω i Indicates the rotation vector of the i joint.
[0023] Based on the screw theory, the forward kinematics model of the 6R robot is expressed as,
[0024]
[0025] where g st (θ),g st (0) respectively represent the initial pose and target pose of the robot end, Indicates the exponential product form of the rotation motion of the i joint,
[0026]
[0027] where θ i is the i-th joint angular displacement; is the i joint rotation vector ω i Another form of representation, by ω i =[ω 1 ω 2 ...
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Abstract
The invention discloses a 6R robot inverse kinematic geometry solving method based on a screw theory and belongs to the field of robot kinematic inverse solution research. A basal coordinate system and a tool coordinate system are established, kinematic parameters of a 6R robot are determined through the basal coordinate system and the tool coordinate system, and a forward kinematic model is established; inverse solution motion of first three joints of the 6R robot is descripted in a decomposed mode, and a six-variable quadratic equation set is established; and a target position qe1 corresponding to an initial position qs1 is solved based on a screw forward kinematic model. Through the method, geometric description is combined with the screw theory, the geometrical significance is more explicit, the algebraic equation set is solved through a simplified inverse kinematic algorithm, the calculation efficiency is effectively improved, and a new inverse kinematics processing method is provided for real-time control over robot movement.
Description
technical field [0001] The invention belongs to the research field of robot kinematics inverse solution method, in particular to a 6R robot inverse kinematics geometric solution method based on screw theory. Background technique [0002] Kinematics analysis is the basis for realizing motion control, and mainly establishes a mapping model between joint variables and terminal poses. Among them, the inverse solution problem, that is, the problem of solving joint variables with known terminal poses, is one of the research hotspots in the field of robotics, and its solution efficiency directly affects the real-time performance of robot motion control. At present, the inverse modeling of robot kinematics is mainly based on the D-H method and the screw theory. The researchers compared the two methods and found that the application of the latter has the following advantages: it can avoid the establishment of a local coordinate system, simplify the calculation model and overcome the ...
Claims
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