A motion control method of a six-degree-of-freedom wrist-biased series manipulator

Abstract

The invention provides a motion control method of a six-degree-of-freedom wrist offset series mechanical arm, and relates to the technical field of robot kinematics control methods. Including: establish the link coordinate system of the manipulator; establish the forward kinematic equation of the manipulator; obtain the initial value of the angle of joint 1; calculate the angle value of the inverse kinematics solution of joint 2 to joint 6; calculate the pose of the end effector The error with the given pose; judge whether the error is within the error threshold; filter out the angle values ​​of a group of inverse kinematics solutions that meet the conditions; input the angle values ​​of each joint of the manipulator to the control module of the known robot, and complete the comparison of six Motion control of a wrist-biased tandem manipulator with degrees of freedom. The motion control method of a six-degree-of-freedom wrist offset series mechanical arm provided by the present invention does not need to consider the singular solution problem based on the Jacobian matrix, simplifies the control process, effectively reduces the amount of calculation, and improves the convergence speed and calculation accuracy , while improving the control accuracy of the manipulator.

Description

technical field [0001] The invention relates to the technical field of robot kinematics control methods, in particular to a motion control method of a six-degree-of-freedom wrist offset series mechanical arm. Background technique [0002] Solving robot inverse kinematics is the premise and foundation of robot control. Robots whose three joints at the end do not intersect at one point or whose three axes are not parallel are usually called wrist-biased manipulators. This type of manipulator has the characteristics of high structural strength and flexible movement, but it is difficult to calculate the The inverse kinematics solutions of type manipulators, thus numerical methods are widely used to solve the above problems. The numerical method itself has many limitations, such as slow convergence speed or sometimes no convergence for high-dimensional nonlinear problems, improper selection of initial values ​​will seriously reduce the convergence speed and calculation accuracy,...

AI Technical Summary

Problems solved by technology

The numerical method itself has many limitations, such as slow convergence speed or sometimes no convergence for high-dimensional nonlinear problems, improper selection of initial values ​​will seriously reduce the convergence speed and calculation accuracy, and it is impossible to obtain multiple solutions at the same time, so that some constraints in trajectory planning are difficult. Add, you must avoid singular poses or you will not be able to converge, etc.

These limitations directly lead to problems such as cumbersome control process of this type of robot, large amount of calculation, low control accuracy, and difficulty in realizing online real-time control.

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