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Five-degree-of-freedom mechanical arm inverse kinematics solving method

An inverse kinematics and manipulator technology, applied in the field of inverse kinematics solution of multi-degree-of-freedom manipulators, can solve the problems of many iterations, slow convergence, high dependence on initial values, and achieve high precision and high speed.

Active Publication Date: 2019-11-12
ZHEJIANG UNIV OF TECH
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Problems solved by technology

This type of algorithm has a wide range of applications and few constraints, but has defects such as a large number of iterations, slow convergence, easy to fall into local optimal solutions, and high dependence on initial values.

Method used

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  • Five-degree-of-freedom mechanical arm inverse kinematics solving method
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  • Five-degree-of-freedom mechanical arm inverse kinematics solving method

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Embodiment Construction

[0042] The present invention will be further described below in conjunction with the drawings.

[0043] Reference Figure 1 ~ Figure 3 , An evolutionary strategy-based inverse kinematics solution of a 5-DOF manipulator, including the following steps:

[0044] 1) Establish a positive kinematics model based on the D-H parameters of the robotic arm

[0045] Table 1 is the D-H parameter table of Youbot robotic arm:

[0046]

[0047]

[0048] Table 1

[0049] Determine the coordinate system on each link of the robotic arm and the conversion relationship between its coordinate systems through the D-H parameter table. The transformation matrix A of the linkage coordinate system {i} relative to the coordinate system {i-1} i , The coordinate system transformation relation of two adjacent members is obtained according to the D-H rule:

[0050]

[0051] The meaning of each parameter of the above formula is that the member i first around the axis z relative to the member i-1 i-1 Rotation θ i Angle...

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Abstract

The invention discloses a five-degree-of-freedom mechanical arm inverse kinematics solving method. The method comprises the following steps that 1) a positive kinematics model is established accordingto mechanical arm D-H parameters; 2) a mechanical arm tail end pose error function model is established; 3), the tail pose error function is minimized based on an evolutionary strategy algorithm; 4),an mechanical arm inverse kinematics equation is iterated within an error function allowable error; and 5), if iteration is over, the error function is not returned to zero or allowable error, and the equation is returned to the step 2 to replace the initial joint value and re-calculate is carried out. The method provided by the invention can effectively solve the problem that the mechanical arminverse kinematics is unsolved due to unfilled rank of jacobian matrix during mechanical arm inverse kinematics iteration solving. The mechanical arm inverse kinematics solving method has high speed and extremely high precision.

Description

Technical field [0001] The invention relates to a mechanical arm control system of an industrial robot, in particular to an inverse kinematics solution method of a multi-degree-of-freedom mechanical arm based on the combination of Monte Carlo method and evolution strategy (ES). Background technique [0002] With the development of science and technology and control technology, robots are widely used in scientific research, military, industry, logistics and other fields. The manipulator is the main actuator in robot control. The rationality and reliability of this mechanism will greatly affect the application of the entire robot. [0003] Manipulator inverse kinematics solution is usually used to study the pose with joint structure, which is the basic technology in the field of robot research. The inverse kinematics of the robotic arm reduces the difficulty of controlling the robotic arm by mapping the pose of the end effector of the robotic arm from the three-dimensional Cartesian...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 仇翔赵扬扬王国顺刘安东滕游俞立
Owner ZHEJIANG UNIV OF TECH
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