Determination method of optimal initial pose of flexible support series industrial robot
An industrial robot, flexible support technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as deterioration, affecting the stability of the flexible support, and the accuracy of the vibration end of the flexible support platform.
Active Publication Date: 2020-08-25
TSINGHUA UNIV +1
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Problems solved by technology
Although the introduction of flexible support realizes the organic combination of large working space of the terminal, low power consumption and low cost of the system, it also brings risks of vibration of the flexible support platform and deterioration of terminal accuracy. The different positions of each joint in space will also affect the stability of the flexible support
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[0061] Introduction to basic principles
[0062] (1) Instructions for solving kinematic position Jacobian matrix and position Hessian matrix
[0063] Using the D-H homogeneous coordinate change rule to obtain the mutual mapping matrix between the end coordinates and the base coordinates of industrial robots The position Jacobian matrix can be expressed as:
[0064]
[0065] The Hessian matrix H is to use the Jacobian matrix to re-align [θ 1 ,θ 2 ,θ 3 ] Derivation:
[0066]
[0067] (2) Newton-Euler method dynamic solution model
[0068] The iterative formula of the Newton-Euler dynamics recursive algorithm for a 6-DOF rotary joint robot can be summarized as follows:
[0069] Forward solution of boom motion parameters (i: 0→6):
[0070]
[0071]
[0072]
[0073]
[0074]
[0075]
[0076] The driving torque of each joint (i: 6→1) for reverse solution of joint force:
[0077]
[0078]
[0079]
[0080] Then solve one step backward (i=0)...
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The invention discloses an optimal initial position and posture determination method of flexible supporting series industrial robot operation, and belongs to the field of flexible supporting industrial robot system trajectory planning. The method mainly comprises the following steps that firstly, a kinematics positive solution model is established through a D-H rule; then, a set of initial valuesare reasonably selected, and a set of inverse solutions of an equation set is solved by using an fsolve function on the basis of the inverse solution equation set; next, the set of inverse solutions is taken as a bridge to roughly search for other symmetrical inverse solution initial values according to the symmetry characteristic of the working space of the robot, and other accurate inverse solutions are obtained by using the fsolve function; and finally, the size relation of the reaction force system (including force and moment) generated in the operation process of different position and posture of robot joints corresponding to different inverse solutions of the same position and posture of the robot is analyzed, wherein the position and posture which does not collide with the workpieceand corresponds to the minimum value of the reaction force system is the the optimal initial position and posture of the flexible supporting series industrial robot operation to be described.
Description
technical field [0001] The invention belongs to the technical field of trajectory planning of a flexible support series industrial robot system, and in particular relates to a method for determining the optimal initial pose of a flexible support series industrial robot. [0002] Background of the invention [0003] With the advent of large-scale mining dump trucks, large servo presses, and large aircrafts, serial industrial robots have become more and more widely used in high-end manufacturing. The non-unique characteristic of the inverse kinematics solution of serial industrial robots provides a variety of initial pose selection schemes in the process of trajectory planning. In addition to eliminating those inverse solutions that will collide with the workpiece, there are often multiple groups of inverse solutions. The different combinations of inverse solutions caused by the positioning mechanism of industrial robots will lead to different poses of each joint in space. Di...
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IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 邵珠峰陈炼王立平杜丽张兆坤李伟涛葛姝翌邓豪
Owner TSINGHUA UNIV