6 Freedom of the joint rotation angle of the joint robot determination method and device

Abstract

The invention discloses a method and device for determining the joint rotation angles of a 6-degree-of-freedom serial robot. The method comprises the following steps that a first spatial coordinate system is established, and the origin of the first spatial coordinate system is positioned on the axis of a first joint and is fixed; a second spatial coordinate system is established by taking the intersection point of the first axis as an origin; the initial pose of the second spatial coordinate system relative to the first spatial coordinate system under the initial configuration of the 6-degree-of-freedom serial robot is determined; a spiral motion trajectory of the first axis intersection point on the first joint, a second joint and a third joint of the 6-degree-of-freedom serial robot fromthe initial configuration to a current configuration of the 6-degree-of-freedom serial robot is determined based on a first coordinate and a second coordinate of the first axis intersection point relative to the first spatial coordinate system under the initial configuration and the current configuration; and the rotation angles of the first joint, the second joint, the third joint, a fourth joint, a fifth joint and a sixth joint of the 6-degree-of-freedom serial robot from the initial configuration to the current configuration are determined according to the spiral motion trajectory, the initial pose and the current pose.

Description

technical field [0001] The present disclosure relates to the technical field of robots, in particular to a method and device for determining joint rotation angles of a 6-DOF serial robot. Background technique [0002] Robot kinematics is divided into forward and inverse kinematics. Calculating the position and orientation of the end effector of the robot by giving the angles of each joint is called forward kinematics. In contrast, inverse kinematics is to find the corresponding angles of each joint through a given pose, and usually has multiple solutions. Since it is relatively difficult to solve the inverse kinematics of the robot, and it is related to the motion planning and real-time performance of the robot, the research of inverse kinematics is more important. At present, the commonly used robot kinematics modeling methods mainly include the D-H parameter method and the screw method. Although the D-H parameter method is widely used in robot kinematics modeling, when ...

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Problems solved by technology

In response to this problem, many scholars try to improve or propose other kinematics models, but most models cannot meet the requirements of continuity, minimum and completeness at the same time

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