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Interactive kinematics modeling method for universal series robot

A modeling method and robot technology, applied in the research field of robotics and computer graphics, can solve the problems of inconvenient and cumbersome robot simulation

Inactive Publication Date: 2021-05-18
SOUTH CHINA UNIV OF TECH +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

For different robot types, DH parameters are different, and the process of determining DH parameters is cumbersome, which brings inconvenience to robot simulation

Method used

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  • Interactive kinematics modeling method for universal series robot
  • Interactive kinematics modeling method for universal series robot
  • Interactive kinematics modeling method for universal series robot

Examples

Experimental program
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Embodiment

[0027] An interactive kinematics modeling approach for a general-purpose tandem robot, such as figure 1 shown, including the following steps:

[0028] S1, build a modeling tree, add the child node of the link to the parent node of the link according to the parent-child relationship of the link;

[0029] S2, selecting a link model for each link node, specifying a link coordinate system, selecting a joint type and a joint axis, and setting joint limit values;

[0030] S3, generate robot configuration files and store them locally.

[0031] Specifically, in the step S1, the modeling tree is a data structure describing the robot, and the data structure defines attributes such as modeling interfaces, connecting rods, joints, joint types, and joint limits, and corresponding methods. The parent-child relationship refers to the connection relationship between the links of the robot, and the previous link of the robot is the parent link of the next link. Such as figure 2 As shown, ...

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Abstract

The invention discloses an interactive kinematics modeling method of a universal series robot. The method comprises the following steps: constructing a modeling tree of series robots, and adding connecting rod child nodes to connecting rod father nodes according to a connecting rod father-child relationship between the series robots; selecting a connecting rod model for each connecting rod node, assigning a connecting rod coordinate system, selecting a joint type and a joint shaft, and setting a joint limit value; and generating a robot configuration file and storing locally. According to the method, the kinematic model of the universal series robot can be quickly established for robot simulation.

Description

technical field [0001] The invention relates to the research fields of robot technology and computer graphics, in particular to an interactive kinematics modeling method of a universal serial robot. 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 kinematics model is established, forward kinematics and inverse kinematics calculations can be performed to control 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 connecting rod and determines the DH parameters, and then establishes the kinematic equation of the robot. For different robot types, the DH parameters are different, and the process of determining the DH parameters is cumbersome, which brings inconvenience to ...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1615
Inventor 王念峰杨天张宪民郑永忠
Owner SOUTH CHINA UNIV OF TECH
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