Optimization method of five-degree-of-freedom first-end symmetric mechanical arm inverse kinematics calculation

An optimization method and inverse kinematics technology, applied in manipulators, complex mathematical operations, program-controlled manipulators, etc., can solve problems such as limited calculation accuracy, affecting calculation speed, multi-category discussion, etc., to achieve real-time response, improve calculation accuracy and The effect of calculating speed

Active Publication Date: 2019-08-30
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

Since the number of joints of the robotic arm is less than 6, its kinematics cannot be decoupled, so its inverse kinematics solution is quite difficult
Currently, the commonly used numerical method h

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  • Optimization method of five-degree-of-freedom first-end symmetric mechanical arm inverse kinematics calculation
  • Optimization method of five-degree-of-freedom first-end symmetric mechanical arm inverse kinematics calculation
  • Optimization method of five-degree-of-freedom first-end symmetric mechanical arm inverse kinematics calculation

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Embodiment Construction

[0025] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0026] An optimization method for calculating the inverse kinematics of a first-end symmetrical manipulator, the specific steps of which are as follows:

[0027] a) if figure 1 , figure 2 As shown in , the joints of the five-degree-of-freedom first-end symmetrical manipulator are labeled in the order from the base to the actuator, the joint at the base is marked as the first joint, the joint at the actuator is marked as the fifth joint, and Add a virtual rotary joint whose rotation angle is always zero between the third and fourth joints to calculate the DH parameters of the manipulator;

[0028] b) The shape and position of the given target are relative to the inertial coordinate system O 0 x 0 Y 0 Z 0 The homogeneous transformation matrix T O , take T O The first 3 rows and the first 3 columns of the sub-matrix are the target position O 6 Th...

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Abstract

The invention provides an optimization method of a five-degree-of-freedom first-end symmetric mechanical arm inverse kinematics calculation. The optimization method comprises the following steps thata virtual rotary joint with the rotation angle being always zero is added, and mechanical arm DH parameters are calculated; the position coordinates of the center of the spherical wrist are calculated, the obtained target rotation angle is obtained by homogeneous transformation matrix and converting. The inverse kinematics solving process of the five-degree-of-freedom first-end symmetrical mechanical arm is not subjected to technical means such as iteration, classification and trial and error, and the closed expression of joint angles and the joint morpheme is directly obtained according to the parameters of the mechanical arm, so that the inverse kinematics problem of the five-degree-of-freedom first-end symmetric mechanical arm can be rapidly solved, the calculation precision and the calculation speed are improved, and the real-time response of the mechanical arm can be realized.

Description

technical field [0001] The invention relates to the field of inverse kinematics of a mechanical arm, in particular to a calculation method for a five-degree-of-freedom first-to-end symmetrical mechanical arm. Background technique [0002] The five-degree-of-freedom end-to-end symmetrical robotic arm can perform tasks such as handling, docking, and crawling in low-gravity environments such as underwater and space. Since the number of joints of the manipulator is less than 6, its kinematics cannot be decoupled, so its inverse kinematics solution is quite difficult. The currently widely used numerical method has limited calculation accuracy due to iteration, and the analytical method with high calculation accuracy usually requires more classification and discussion, which affects the calculation speed. Contents of the invention [0003] In order to overcome the deficiencies of the prior art, the present invention provides an optimization method for calculating the inverse ki...

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Application Information

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IPC IPC(8): B25J9/16G06F17/11
CPCB25J9/1602B25J9/1664G06F17/11
Inventor 董刚奇黄攀峰王通刘正雄马志强
Owner NORTHWESTERN POLYTECHNICAL UNIV
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