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Interactive kinematics modeling method of common industrial robot

A technology of robot kinematics and industrial robots, applied in the fields of robot technology and computer graphics, which can solve the problems of robot modeling and simulation inconvenience

Inactive Publication Date: 2021-03-26
SOUTH CHINA UNIV OF TECH +1
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Problems solved by technology

For different types of robots, the DH parameters are artificially calculated according to the three-dimensional dimensions of the robot, and the local coordinate system of the robot's connecting rod model (the default coordinate system during modeling) also needs to be changed in the three-dimensional modeling software, and then the robots are one by one Connecting rods are exported, which is inconvenient for robot modeling and simulation

Method used

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  • Interactive kinematics modeling method of common industrial robot
  • Interactive kinematics modeling method of common industrial robot
  • Interactive kinematics modeling method of common industrial robot

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Embodiment Construction

[0048] The present invention will be further described below in conjunction with drawings and embodiments.

[0049] see figure 1 , an interactive kinematics modeling method for common industrial robots, including:

[0050] S1, establish the link coordinate system of the robot and set the robot modeling parameters; specifically, in step S1, use the D-H modeling method to establish the link coordinate system of the robot, and the modeling parameters include the link parameters and joint angles of the robot Initial value, initial value of joint angle limit and initial value of joint axis rotation. The connecting rod parameters of the robot are the key length dimensions of the robot body, and the joint axis rotation is represented by 1 or -1. The former means that the joint rotation defined by the link coordinate system is the same as that of the robot body, and the latter indicates that it is different.

[0051] S2, automatically converting the robot modeling parameters into ro...

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Abstract

The invention discloses an interactive kinematics modeling method of a common industrial robot. The interactive kinematics modeling method comprises the steps that S1, a connecting rod coordinate system of the robot is established, and robot modeling parameters are set; S2, the robot modeling parameters are automatically converted into robot kinematics parameters; S3, a modeling reference system is established at a base of a robot three-dimensional model, and a connecting rod model of the robot is selected from the robot three-dimensional model; S4, a local coordinate system of the connectingrod model of the robot is automatically modified into a connecting rod coordinate system according to the modeling reference system and the robot kinematics parameters; S5, the robot kinematics parameters and the connecting rod model of the robot are stored as a configuration file of the ROBOOP robot; and S6, the configuration file of the ROBOOP robot is read, and the configuration file is analyzed to obtain a kinematic model of the ROBOOP robot. The modeling process is highly automatic, and the joint angle of a modeled virtual robot is consistent with that of a real robot.

Description

technical field [0001] The invention relates to the technical fields of robot technology and computer graphics, in particular to an interactive kinematics modeling method of common industrial robots. Background technique [0002] The robot is composed of connecting rods and joints. When the joints are driven by motors, the connecting rods of the robot will move relative to each other so that the end of the robot reaches the target pose. After the robot dynamics model is established, the forward dynamics and inverse dynamics calculations can be performed in order to control the motion of the robot. [0003] At present, the DH method is generally used to model the kinematics of the robot. This method establishes the coordinate system of the link and determines the DH parameter (one of the kinematic parameters), and then establishes the kinematic equation of the robot. For different types of robots, the DH parameters are artificially calculated according to the three-dimension...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1605
Inventor 王念峰杨天张宪民郑永忠
Owner SOUTH CHINA UNIV OF TECH
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