A method for calculating the minimum path of joint space rotation angle of a manipulator

A technology of joint space and manipulators, which is applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of complicated process, increased calculation amount, and large amount of calculation, so as to avoid position mutation, smooth path, and high calculation accuracy Effect

Active Publication Date: 2021-08-10
DALIAN UNIV OF TECH
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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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  • A method for calculating the minimum path of joint space rotation angle of a manipulator
  • A method for calculating the minimum path of joint space rotation angle of a manipulator
  • A method for calculating the minimum path of joint space rotation angle of a manipulator

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Embodiment Construction

[0049] The specific implementation manner of the present invention will be described in detail below in conjunction with the accompanying drawings and technical solutions.

[0050] attached figure 1 It is a flow chart of the method for obtaining the minimum path of the joint space rotation angle of the general configuration manipulator of the present invention, with figure 2 It is a structural diagram of a six-degree-of-freedom general configuration manipulator. The coordinate system of each joint of the general configuration manipulator is as follows: image 3 shown. The robotic arm consists of a base A, an end effector G and 5 connecting rods, namely connecting rod 1, connecting rod 2, connecting rod 3, connecting rod 4, connecting rod 5 (B, C, D, E, F), 6 Rotation joints, namely joint 1, joint 2, joint 3, joint 4, joint 5, joint 6 (1, 2, 3, 4, 5, 6). The determination method of each coordinate system adopts the improved DH parameter method, and each joint rotates around...

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Abstract

The invention discloses a method for obtaining the minimum path of the joint space rotation angle of a mechanical arm, which belongs to the field of modern intelligent manufacturing technology, and relates to a method for obtaining the minimum path of the joint space rotation angle of a mechanical arm in the field of industrial robots. This method first combines the chaos phenomenon to construct an iterative starting point set that can converge to all inverse kinematics solutions corresponding to a single pose of the manipulator, and then brings the iterative starting points into the LM iterative algorithm to solve the inverse kinematics solution. And eliminate the repeated results and the results beyond the range of motion of each joint of the manipulator, and obtain all the feasible solutions of inverse kinematics corresponding to a single pose. Then, all the feasible solutions of inverse kinematics are obtained in turn, and all feasible solutions of the joint space motion path are obtained; finally, a search algorithm is established to calculate the minimum path of the joint space rotation angle of the manipulator. This method effectively avoids the problems of sudden changes in the path position and large displacement in the joint space, has the characteristics of high calculation accuracy and smooth path, and is more in line with the actual work requirements of the manipulator.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J17/00
CPCB25J9/1605B25J9/1612B25J9/1664B25J17/00
Inventor 马建伟高松闫惠腾吕琦贾振元刘巍司立坤
Owner DALIAN UNIV OF TECH
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