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Calculation method of forward kinematics of multi-axis robot based on axis invariant

A multi-axis robot, positive kinematics technology, applied in the field of robotics, can solve problems such as lack of design framework calculation and control methods

Active Publication Date: 2020-03-17
居鹤华
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  • Abstract
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  • Application Information

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Problems solved by technology

[0006] Therefore, although there are many robot-related theories, there is still a lack of a complete and effective design framework and corresponding calculation and control methods, which can solve all aspects of modeling in the actual development process of various robots. The operation structure and rules, to forward kinematics, inverse kinematics, and related issues of mechanical calculations

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  • Calculation method of forward kinematics of multi-axis robot based on axis invariant
  • Calculation method of forward kinematics of multi-axis robot based on axis invariant
  • Calculation method of forward kinematics of multi-axis robot based on axis invariant

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[0084] The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.

[0085] Definition 1 Natural coordinate axis: The unit reference axis that is coaxial with the motion axis or measurement axis and has a fixed origin is the natural coordinate axis, also known as the natural reference axis.

[0086] Definition 2 natural coordinate system: such as figure 1 As shown, if the multi-axis system D is at zero position, all Cartesian body coordinate systems have the same direction, and the origin of the body coordinate system is located on the axis of the motion axis, then the coordinate system is a natural coordinate system, referred to as the natural coordinate system.

[0087] The advantages of the natural coordinate system are: (1) the coordinate system is easy to d...

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Abstract

An axis invariant-based multi-axis robot forward kinematics calculation method: using an axis set to correspondingly describe a multi-axis robot apparatus and, based on the natural coordinate system, using the axis invariants corresponding to the axes of the axis set to calculate control parameters of the multi-axis robot apparatus; using the invariance of the axis invariants to establish an axis invariant-based iterative kinematic equation, the symbols of the iterative kinematic equation corresponding to a pseudo-code, reflecting the topological relationship and chain sequence relationship of the kinematic chain of the multi-axis robot apparatus; calculating the iterative forward kinematic values of the kinematic chain; and calculating the axis invariant-based iterative deflection.

Description

technical field [0001] The invention relates to a multi-axis robot forward kinematics calculation method, which belongs to the technical field of robots. Background technique [0002] Robotics is a very hot field right now. This field has invested a lot of scientific and engineering manpower in the past few decades, and it has been studied for many years. However, once the number of axes and degrees of freedom increase to a certain number, according to the existing textbooks and known observation, modeling, calculation and control methods, it will often fall into complex and out-of-control problems, or even unsolvable problems. [0003] First, past practices lack the ability to generalize. For different robots, it is often necessary to re-study and establish corresponding kinematics and mechanics models. [0004] Secondly, in the process of modeling in the past, the diagrams and language used are usually imprecise and incomplete. This results in many parameters not being...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1607
Inventor 居鹤华
Owner 居鹤华