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
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[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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