Method for solving inverse kinematics of four-degree-of-freedom joint type robot

Abstract

The invention discloses a method for solving the inverse kinematics of a four-degree-of-freedom joint type robot. The method comprises the following steps that 1, a dynamic coordinate system O-XZ, anda coordinate equation of a hinge point A, a hinge point C, a hinge point B, a hinge point E and a hinge point F is established; 2, according to the kinematics decoupling characteristic of the robot,a position relation coordinate equation among the hinge point F, the hinge point A and the hinge point C is obtained; 3, a base coordinate system O0-X0Y0Z0 is established, and the position positive solution (Xon, Yon, Zon) and the speed positive solution (Xon, Yon, Zon) of a central position On are obtained by kinematics; and 4, the rotation angle theta 1 and the rotation angle theta 2 are solved,and the position positive solution (Xon, Yon, Zon) and the speed positive solution (Xon, Yon, Zon) are utilized so as to obtain the position inversion Xc and Za of a horizontal sliding block and a vertical sliding block, and speed inversion Xc, Za, and delta 1. The calculation complexity of kinematics analysis can be reduced through the simplified kinematics solution, so that the inversion process of the whole robot is simple and visual, the joint angle of a mechanical arm is accurately controlled, and the safety of the robot is improved.

Description

technical field [0001] The invention belongs to the technical field of industrial robot manufacturing, and more specifically relates to a solution method for inverse kinematics of a four-degree-of-freedom articulated robot. Background technique [0002] Today, in order to meet the growing needs of industrial production, robots are developing towards high speed, heavy load and high precision. Palletizing robots are characterized by their mechanical structure, scope of application, equipment footprint, flexibility, cost and maintenance The advantages make it widely used and become a development trend to solve many disadvantages in industrial production, such as high labor intensity, low efficiency, and poor safety. [0003] The palletizing robot belongs to the cylindrical coordinate robot, including the waist joint, vertical joint, horizontal joint and wrist joint driven by four servo motors respectively. Inverse kinematics is the process of solving the parameters of each mov...

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Problems solved by technology

[0002] Today, in order to meet the growing needs of industrial production, robots are developing towards high speed, heavy load and high precision. Palletizing robots are characterized by their mechanical structure, scope of application, equipment footprint, flexibility, cost and maintenance The advantages make it widely used and become a development trend to solve many disadvantages in industrial production, such as high labor intensity, low efficiency, and poor safety.

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