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1r/2r/3r Inverse Modeling Method Based on Axial Invariants and dh Parameters

A modeling method and variable technology, applied in the field of robotics, can solve the problems of low reliability, low repetition accuracy of robot system absolute positioning and orientation accuracy, and cumbersome process of determining D-H parameters.

Active Publication Date: 2019-10-22
南京安舍曼机器人研究院有限公司
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  • Application Information

AI Technical Summary

Problems solved by technology

[0002] When using the nominal D-H system and D-H parameters to calculate the kinematics inverse solution of the robot system, due to the existence of machining and assembly errors, the absolute positioning and attitude accuracy of the robot system are far lower than the repeatability of the system; at the same time, the establishment of the D-H system and the D-H parameters The determination process is cumbersome, and when the degree of freedom of the system is high, the reliability of manual completion of this process is low

Method used

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  • 1r/2r/3r Inverse Modeling Method Based on Axial Invariants and dh Parameters
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  • 1r/2r/3r Inverse Modeling Method Based on Axial Invariants and dh Parameters

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Embodiment

[0304] The following method is used to model and calculate the inverse solution of the attitude of the CE3 digital transmission mechanism:

[0305] Such as Figure 6 As shown, the rotation chain of the digital transmission mechanism of the CE3 patrol is c l m =(c,d,m], the sequence of axis invariants is [ c no d , d no m ]. The unit vector of the ground data receiving station is c u S . Find its angle sequence [φ d ,φ m ].

[0306] The structural parameters expressed by axis invariants obtained through precise measurement are

[0307]

[0308] Based on the relationship between the natural coordinate system and the D-H system, F={F [l] |l∈A}, Where: F [l] is the natural coordinate system, F [l′] It is D-H series; and there are

[0309] determine the middle point And the origin O of the D-H system l′ .

[0310] make and z l′ axis-invariant and and

[0311] defined as to n l public vertical line. is the axis The unit coordinate vector...

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Abstract

A modeling and solving method for 1R / 2R / 3R robot inverse kinematic solutions on the basis of axis invariants and D-H parameters. Said method uses a natural coordinate system as the basis, solves an axis invariant-based 1R inverse kinematics solution, and axis invariant and DH parameters-based 2R and 3R inverse kinematics solutions, and verifies the correctness of the method by means of a CE3 inspector engineering application. The method has a simple chain symbol system and a representation of the axis invariants, has the function of pseudo codes, and the physical meaning is accurate, thus ensuring the reliability of the engineering implementation. On the basis of the structural parameters of the axis invariants, it is not necessary to establish an intermediate coordinate system, thereby avoiding measurement errors caused by the introduction of the intermediate coordinate system, and ensuring the accuracy of the inverse kinematics solution. At the same time, due to the parameterization of the coordinate system, polarity, and structural parameters, the versatility of engineering applications is ensured.

Description

technical field [0001] The invention relates to a multi-axis robot posture inverse modeling and calculation method, which belongs to the field of robot technology. Background technique [0002] When using the nominal D-H system and D-H parameters to calculate the kinematics inverse solution of the robot system, due to the existence of machining and assembly errors, the absolute positioning and attitude accuracy of the robot system are far lower than the repeatability of the system; at the same time, the establishment of the D-H system and the D-H parameters The determination process is cumbersome, and when the degree of freedom of the system is high, the reliability of manual completion of this process is low. Therefore, it is necessary to solve the problem of determining the D-H system and D-H parameters of the robot system by the computer. At the same time, the high-precision D-H system and D-H parameters are the basis for the robot to perform precise operations, and also...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1605
Inventor 居鹤华石宝钱
Owner 南京安舍曼机器人研究院有限公司