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General type 6-degree-of-freedom 6-degree-of-freedominverse solution engineering algorithm

A technology of inverse engineering and manipulators, applied in the field of inverse engineering algorithms of general-purpose six-degree-of-freedom manipulators, can solve problems such as complex calculations, failure to achieve general effects, and robot structure requirements, so as to improve solution efficiency and avoid complexity. Effect

Active Publication Date: 2018-04-24
广东凯宝机器人科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Using the inverse matrix solution method, the calculation is complicated; there are also space geometry algorithms to find the inverse solution, but there are requirements for the robot structure, and the general effect has not been achieved.

Method used

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  • General type 6-degree-of-freedom 6-degree-of-freedominverse solution engineering algorithm
  • General type 6-degree-of-freedom 6-degree-of-freedominverse solution engineering algorithm
  • General type 6-degree-of-freedom 6-degree-of-freedominverse solution engineering algorithm

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Embodiment Construction

[0042] The present invention will be further described below in conjunction with accompanying drawing.

[0043] The 6-DOF inverse solution algorithm proposed by the present invention does not use the inverse matrix method to solve it. At the same time, it is aimed at a general-purpose 6-DOF manipulator. It first converts the space problem into a plane problem, and simplifies the steps for inverse solution. The method includes the following steps

[0044] (1) Determine the actual target point P(X, Y, Z) for grabbing, without considering the target pose.

[0045] (2) Since the problem of the target posture is not considered, the rotation of the fourth and sixth joints of the manipulator is fixed, and the angle between the forearm and the horizontal plane is always β, and then θ 1 , θ 2 , θ 3 , θ 5 .

[0046] (3) When finding the inverse solution, first turn around and find θ 1 , the subsequent solution is simplified to the solution of the plane problem.

[0047] (4) Calcul...

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Abstract

The present invention relates to the technical field of robot control, and provides, aiming at a robot inverse solution algorithm, an inverse solution algorithm using space geometrical knowledge to solve. Compared with a conventional inverse matrix inversion solution algorithm, calculating efficiency of inverse solution is largely increased, and complexity of an inverse matrix algorithm is reduced. During a specific solution process, an angle of a waist of a robot is calculated first, plane coordinate systems are added to arms of the robot, and therefore the space geometrical problem is converted into a plane geometrical problem to be solved, calculating complexity is reduced, and calculating efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a general-purpose six-degree-of-freedom manipulator reverse engineering algorithm. Background technique [0002] With the continuous development of science and technology, technology in the field of robotics has increasingly become a topic of common concern in all countries. When the robot performs a series of tasks such as grasping, it needs to locate the position of the target, and then calculate according to the position of the end to obtain the angle value of each axis of the robot. Therefore, the accuracy and reliability of the inverse solution process and results are the basis of robot control technology, and also an important factor in the realization of robot control. [0003] At present, many methods use the method of inverse matrix solution, which will make the calculation complicated, and there will be disadvantages such as unintuitive solution and multiple solu...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1607
Inventor 王柯赛蒋凯蒋梁中黎俊超
Owner 广东凯宝机器人科技有限公司