Method and device for determining joint rotation angle of serial robot
A technology of rotation angle and robot, applied in the field of robot recognition, can solve the problem of less attention of robots
Active Publication Date: 2022-04-22
CAPITAL NORMAL UNIVERSITY
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Problems solved by technology
At present, many scholars mainly focus on the inverse kinematics of the robot with the last three joints intersecting at one point, but less attention is paid to the robot with three adjacent parallel joints
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[0099] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. Also, for clarity, parts not related to describing the exemplary embodiments are omitted in the drawings.
[0100] In the present disclosure, it should be understood that terms such as "comprising" or "having" are intended to indicate the presence of features, numbers, steps, acts, components, parts or combinations thereof disclosed in the specification, and are not intended to exclude one or a plurality of other features, numbers, steps, acts, parts, parts or combinations thereof exist or are added.
[0101] In addition, it should be noted that, in the case of no conflict, the embodiments in the present disclosure and the features in the embodiments can be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawin...
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The embodiment of the present disclosure discloses a method for determining the joint rotation angle of a tandem robot, including: establishing a first space coordinate system; establishing a second space coordinate system with the second intersection of the axes of the fifth joint and the sixth joint as the origin; Under the initial configuration of the tandem robot, the rotation angles of the first to sixth joints of the 6-DOF tandem robot are 0; determine that the 6-DOF tandem robot is in the initial configuration, the second space coordinate system is relative to the first space coordinate system based on the first and second coordinates of the second intersection point relative to the first space coordinate system under the initial configuration and the current configuration, determine the position of the second intersection point on the first four joints of the 6-DOF tandem robot Helical motion trajectory; determine the rotation angles of the first to sixth joints after the 6-DOF series robot moves from the initial configuration to the current configuration according to the helical motion trajectory, initial pose and current posture.
Description
technical field [0001] The present disclosure relates to the technical field of robot recognition, in particular to a method and device for determining joint rotation angles of a 6-DOF serial robot with three adjacent joints parallel to each other. Background technique [0002] With the development of sensors, artificial intelligence, Internet of Things and big data technology, various advanced robots are used in industrial production, or replace humans to do some repetitive or maintenance work. Flexibility and maneuverability are important criteria for measuring the ability of a robot. Multi-joints and high degrees of freedom make the robot more powerful and able to complete more tasks. [0003] The traditional Denavit-Hatenberg (D-H) parameter method is a relatively mature kinematic modeling method. However, this method has obvious defects, and its parameters are discontinuous, which leads to singularity problems. Therefore, this model is not suitable for robot kinematics...
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IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1612
Inventor 施智平赵荣波关永张倩颖王国辉邵振洲王瑞李晓娟
Owner CAPITAL NORMAL UNIVERSITY