Method for uniquely solving inverse kinematics numerical value of joint type mechanical arm

Abstract

The invention discloses a method for uniquely solving the inverse kinematics numerical value of the joint type mechanical arm, belongs to the technical field of modern intelligent manufacturing, relates to the technical field of industrial robots, relates to a method for uniquely solving the inverse kinematics numerical value of a joint type six-degree-of-freedom mechanical arm with shoulder joints facing forward. According to the method, a mechanical arm joint coordinate system is built according to an improved DH parameter method, four structural geometrical parameters between adjacent joints of the mechanical arm are determined, a homogeneous coordinate transformation matrix of two adjacent coordinate systems is calculated. For a given pose matrix of a tail end coordinate system O6, animproved newton iteration method, namely a Levenberg marquardt iterative algorithm is adopted, the inverse kinematics solution of the joint coordinate system is calculated by using a jacobian matrix J, and the six joint rotation angle values theta i which correspond to the pose matrix and meet the precision requirement are obtained. The method overcomes the requirement that a traditional newton iteration method needs to fully rank the jacobian matrix j, the modeling method is simple, clear and effective, the method has the characteristics of being high in solving precision, high in solving speed and simple and feasible in solving process.

Description

technical field [0001] The invention belongs to the technical field of modern intelligent manufacturing, and relates to a method for solving the unique numerical solution of inverse kinematics of an articulated six-degree-of-freedom mechanical arm whose shoulder joint is biased forward in the field of industrial robots. Background technique [0002] The inverse kinematics problem of the articulated manipulator is to find the angle of rotation of all manipulator joints given the position and attitude of the end-effector coordinate system of the manipulator relative to the base coordinate system and the geometric parameters of all manipulator joints value, which is the inverse process of forward kinematics. Forward kinematics can obtain the homogeneous coordinate transformation matrix T between the front and rear adjacent joint coordinate systems according to the structural geometric parameters of the manipulator, that is, the pose matrix between the two joints; if the rotatio...

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Problems solved by technology

[0004] The purpose of the present invention is to address the defects and deficiencies in the existing inverse kinematics solution of the mechanical arm: the general solution method has a single coordinate system modeling method, the solution process is complicated and difficult to understand, there are multiple solutions, and the calculation time is long and the solution speed is slow

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