Bias mechanical arm joint angle value inverse solution calculating method and device and calculating equipment

Abstract

The invention relates to the technical field of robot control, in particular to a bias mechanical arm joint angle value inverse solution calculating method and device and calculating equipment. The method comprises the steps that the tail end position matrix T and arm angle phi of a mechanical arm are obtained; a space circle equation corresponding to an elbow joint of the mechanical arm is determined; according to the space circle equation, the arm angle phi and the tail end position matrix T, the angle values of a front position joint, a front end secondary joint and the elbow joint are obtained through solution; and according to the angle values of the front position joint, the front end secondary joint and the elbow joint, by means of the tail end position matrix T, the angle value ofa rear end joint of the mechanical arm is obtained through solution. The experimental result shows that the angle values, obtained through the inverse solution method of the technical scheme, of the joints of the mechanical arm are consistent with preset experimental data, and thus, through the technical scheme, the angle values of the bias mechanical arm joints can be calculated through inverse solution.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of robot control, and in particular to a method, device and computing equipment for inversely calculating the angle value of a joint of an offset manipulator. Background technique [0002] In recent years, with the development of engineering technology, six-degree-of-freedom industrial robots have been maturely applied in industrial production. This kind of robot can achieve any pose within a limited space range, and can be competent for certain tasks such as grasping, welding, and gluing. Work. However, the application environment of industrial robots is strictly controlled, generally without obstacles and works in the fence, because for an end pose, a six-degree-of-freedom robot has only a limited number of solutions and cannot avoid obstacles. However, with the growing willingness of service robots to enter the home, robotic arms with an anthropomorphic structure such as seven d...

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Problems solved by technology

[0003] In the process of realizing the present invention, the inventors of the present invention found that there are countless inverse solutions for this seven-degree-of-freedom redundant structure, which makes the inverse kinematics process extremely complicated, and the arm angle method can better solve this problem. Problem, however, the arm angle method is only applicable to the manipulator in the unbiased (SRS) configuration, and cannot be solved for the biased configuration. This invention provides an improved arm angle method, which enables it to solve the deviation Seven degrees of freedom robotic arm

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