Redundant freedom robot inverse kinematics method

Abstract

The invention discloses a redundant freedom robot inverse kinematics method. The redundant freedom robot inverse kinematics method comprises the steps of establishing a forward kinematics equation; establishing an MP generalized inverse matrix equation; according to a generalized MP inverse matrix relationship, establishing a Newton iteration equation set; performing calculation according to the Newton iteration equation set to obtain partial joint position values; according to the partial joint position values, calculating residual joint position values; and performing selection on multiple joint solutions obtained by calculation. According to the redundant freedom robot inverse kinematics method provided by the invention, the time problem and the solution screening problem caused by seven freedom kinematics redundant axis calculation are solved by adopting an MP inverse matrix solution method, so that a mapping relationship between a pose of a gripper at the end of an operation arm of a robot and a joint vector is established.

Description

technical field [0001] The invention relates to the technical field of mobile robots, in particular to an inverse solution method for a redundant degree of freedom robot. Background technique [0002] In the prior art, the kinematic redundant axis algorithm of the lightweight joint-integrated robot is a sufficient and necessary prerequisite for the robot to realize the teaching mode, and it is also the first condition for the robot to realize the visual grasping operation. [0003] Existing kinematics algorithms mainly include traditional transfer matrix sequential inversion method, geometric method, particle swarm optimization method and neural network method. The defect of the above algorithm is that it cannot handle redundant axis kinematics problems well or the problem that multiple solutions cannot be screened, and it cannot handle inverse matrices for irreversible matrices, which leads to the failure of other methods. Contents of the invention [0004] The object of...

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Problems solved by technology

The disadvantage of the above algorithm is that it cannot handle redundant axis kinematics problems well or the problem that multiple solutions cannot be screened, and it cannot handle inverse matrices for irreversible matrices, which leads to the failure of other methods.

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