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A Real-time Inverse Solution Algorithm for 6-axis Robot with Wrist Offset

A robotics and offset technology, applied in the field of robotics, can solve problems such as calculation stability and real-time performance that cannot meet the needs of industrial applications, and achieve high real-time and accuracy effects

Active Publication Date: 2022-05-20
HUAZHONG UNIV OF SCI & TECH
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  • Claims
  • Application Information

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Problems solved by technology

Lin Yang adopts multi-population genetic algorithm co-evolution, and uses immigration operator to realize population information exchange, which improves the convergence ability of traditional single-population genetic algorithm and the "premature" problem of local optimum, but it is still not enough in terms of calculation stability and real-time performance. Meet the needs of industrial applications

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  • A Real-time Inverse Solution Algorithm for 6-axis Robot with Wrist Offset
  • A Real-time Inverse Solution Algorithm for 6-axis Robot with Wrist Offset
  • A Real-time Inverse Solution Algorithm for 6-axis Robot with Wrist Offset

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Embodiment Construction

[0042] The present invention will be further described below in conjunction with accompanying drawing:

[0043] Such as figure 1 Shown: The wrist offset type 6R robot can be divided into three types according to the geometric structure of the offset wrist: upper end offset, front end offset and side end offset. This article takes the HSR-BR610 robotic arm with lateral end offset as an example. The end J5 of the robot has a lateral offset, which can avoid joint interference of J4 and J6 and knotting of internal pipelines during internal rotation, improve the flexibility of the wrist and increase the workload. scope.

[0044] According to the Modify-DH method, establish a coordinate system for each joint of the robot ( figure 1 ), and the connecting rod parameters are shown in Table 1.

[0045] Table 1 Connecting rod parameters of HSR-BR610 robot

[0046]

[0047] Improving the Linkage Transformation Matrix of DH Coordinate System The general expression is:

[0048] ...

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Abstract

The invention discloses a real-time inverse solution algorithm for a wrist-biased 6-axis robot. On the basis of the rapid convergence of the iterative method, the invention aims at the large number of iterations in the solution process of the ordinary Newton-Raphson iterative method and the inability to solve the problem of singular positions. The problem to be solved is calculated using a modified Gauss‑Newton algorithm. And for the problem that the iterative algorithm depends on the starting point close to the exact solution, a dynamic table is introduced to provide the dynamic starting point of the iteration. The actual industrial application of the robot is tested to verify that the algorithm has high real-time and accuracy.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a real-time inverse solution algorithm for a wrist-biased 6-axis robot. Background technique [0002] Inverse kinematics is the cornerstone of robot trajectory planning and motion control, and its real-time and accuracy are the focus of motion analysis. For most 6R robots, the mechanical structure meets the requirement that the adjacent three joints intersect or be parallel, so the Pieper criterion can be used for decoupling processing to complete the analytical solution. However, with the development of robot research and changes in the needs of application industries such as spraying and welding, some robots that do not meet the Pieper criterion, such as the wrist-biased 6R robot, emerged as the times require. [0003] At present, the research on the inverse solution algorithm of general 6R robots at home and abroad can be roughly divided into elimination method, iteration meth...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1664
Inventor 宋宝唐小琦王国栋周向东熊烁刘永兴钟靖龙肖千红
Owner HUAZHONG UNIV OF SCI & TECH