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Inverse kinematic solving method of manual operation and control of multi-joint mechanical arm

A multi-joint manipulator, inverse kinematics technology, used in manipulators, program-controlled manipulators, manufacturing tools, etc.

Active Publication Date: 2018-08-03
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, there is no special inverse kinematics solution for this kind of movement that is manually controlled by the rocker. The present invention proposes a method for inverse kinematics solution for this kind of movement.

Method used

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  • Inverse kinematic solving method of manual operation and control of multi-joint mechanical arm
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  • Inverse kinematic solving method of manual operation and control of multi-joint mechanical arm

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Embodiment Construction

[0014] The solution process of the present invention will be described in more detail below based on the drawings.

[0015] Assuming that the total number of joints of the multi-joint manipulator is n, from the motor to the outside, it is the nth section, the n-1th section...the first section, the length of each joint is L, and the movement time is t. Explore the movement of each joint in the case of three-dimensional movement from two movement modes. Indicate as figure 1 .

[0016] (1) Operating space and joint space

[0017] Since the space curve equation has many expressions, the following equations are selected to describe the space trajectory for the convenience of description:

[0018]

[0019] Among them, x, y, z represent the three-dimensional coordinates of the space curve trajectory. In the above expression, the function expression of x and z with respect to the independent variable y is given. It is easy to get a very important property of the trajectory, that is, for the...

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Abstract

The invention provides an inverse kinematic solving method of manual operation and control of a multi-joint mechanical arm. The method is characterized in that the posture of each joint and the lengthof each driving rope in each time can be output after space trajectory functions are set; the mapping relation between an operation space and a joint space is solved by dichotomy in the numerical method while being settled; the transfer matrix of each joint coordinate system relative to a base coordinate system can be solved while the mapping relation between the joint space and a driving space is settled, and thus the length of each driving rope can be obtained. According to the method, the posture information of the mechanical arm and the length of the driving ropes in each time in the whole movement process can be obtained under the condition that the basic information of the mechanical arm are known.

Description

Technical field [0001] The invention provides an inverse kinematics solution method for manual manipulation of a multi-joint manipulator Background technique [0002] Today's robotic arms are generally rigid structures with 5-7 degrees of freedom. The arm body has poor flexibility and cannot meet the operating requirements in small and complex environments. The multi-joint manipulator applicable to the present invention has many degrees of freedom and flexible posture, which can meet the requirements of the above-mentioned working conditions. [0003] The application of the present invention is mainly in some more complex environments with many obstacles, where the mechanical arm needs to move around the obstacles to a specified position according to a given trajectory with the cooperation of the base, and then complete in the specified space. The work required (such as cutting the pipe). However, there is no special inverse kinematics solution method for this kind of motion manu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1607
Inventor 陈正葛子赟李剑鹏宋伟王滔
Owner ZHEJIANG UNIV
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