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

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...

AI Technical Summary

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 has limited calculation accuracy due to iteration, and the analytical methods with high calculation accuracy often require more classification discussions, which in turn affects the calculation speed.

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