Method for resolving minimum spatial turning path of joints of mechanical arm

Abstract

The invention belongs to the technical field of modern intelligent manufacturing, and relates to a method for resolving the minimum spatial turning path of joints of a mechanical arm in the field of industrial robots. The method comprises the steps that an iteration origin set which can be converged to all inverse kinematics solutions corresponding to a single pose of the mechanical arm is constructed in combination with the chaos phenomenon, iteration origins are sequentially substituted into an LM iterative algorithm to resolve the inverse kinematics solutions; repeated results and results beyond the movement range of the joints of the mechanical arm are eliminated to obtain all feasible inverse kinematics solutions corresponding to the single pose; then, all the feasible inverse kinematics solutions are solved sequentially to obtain all feasible spatial moving path solutions of the joints; and finally, a search algorithm is established to calculate the minimum spatial turning path of the joints of the mechanical arm. By the adoption of the method, the problems of sudden changes of spatial path positions of the joints and large displacement of the joints are effectively solved; and the method has the advantages of high calculation precision and smooth paths and can better meet actual operating requirements of the mechanical arm.

Description

technical field [0001] The invention belongs to the technical field of modern intelligent manufacturing, and relates to a method for obtaining the minimum path of a joint space rotation angle of a mechanical arm in the field of industrial robots. Background technique [0002] The general configuration of the manipulator does not conform to the Pieper criterion, and its inverse kinematics problem is to find the rotation angles of all joints of the manipulator under the condition of a given coordinate system pose at the end of the manipulator, which is the inverse process of forward kinematics. The solution of inverse kinematics is relatively complicated, and it is very likely that there will be multiple solutions. Therefore, in the process of transforming the motion path in the working space of the general configuration manipulator into the joint space through the inverse kinematics algorithm, there are many possibilities for the motion path in the joint space due to the exis...

AI Technical Summary

Problems solved by technology

However, the method is complex and has a large amount of calculation, and when the number of degrees of freedom of the manipulator increases, the amount of calculation will also increase sharply, which has great limitations.

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