Inverse kinematics analytical solution control method for six-degree-of-freedom mechanical arm
A technology of inverse kinematics and control methods, applied in special data processing applications, instruments, electrical and digital data processing, etc., to achieve the effect of improving the success rate and solving efficient
Pending Publication Date: 2021-07-16
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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[0003] At present, there are several mature robot configurations in the field of industrial robots. Most of the robot inverse solutions of these configurations have reference algorithms, but these configurations are not necessarily applicable to all occasions.
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[0069] In order to have a further understanding and understanding of the characteristics, purpose and functions of the present invention, the present invention will be further described in detail below in conjunction with the embodiments.
[0070] The present invention takes the configuration of the six-degree-of-freedom mechanical arm of the space station glove box as an embodiment, such as figure 1 As shown, there are 6 rotary joints in total, the first joint is the rotary joint formed by the arc guide rail, the last 5 joints are modular rotary joints, and the joint variables are angle θ 1 , θ 2 , θ 3 , θ 4 , θ 5 and θ 6 . In terms of configuration, the axis of joint No. 2 is parallel to the axis of Joint No. 1, the axis of Joint No. 3 is perpendicular to the axis of Joint No. 2, the axes of Joint No. 4 and No. 5 are parallel to the axis of Joint No. The axis of joint 6 is perpendicular to the axis of joint 5.
[0071] The method steps of position solution include the...
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The invention relates to an inverse kinematics analytical solution control method for a six-degree-of-freedom mechanical arm. Comprising the steps that 1, a kinematic model is established according to configuration characteristic parameters of the mechanical arm; 2, the tail end pose of the mechanical arm is given, the angles of all joints are solved in sequence according to an inverse kinematics solving method of the mechanical arm, and movement position solving is completed; and 3, the change instruction of each joint angle is input to each joint driver, a driving controller controls a motor of each joint to rotate, so that each joint angle reaches a target angle, and track movement control of the mechanical arm is achieved. According to an inverse kinematics algorithm, all joints of the mechanical arm are controlled to move, and the tail end movement of the mechanical arm meets the track requirement of planning control.
Description
technical field [0001] The invention belongs to the field of robot kinematics solution control, and more specifically relates to a six-degree-of-freedom mechanical arm inverse kinematics analysis solution control method. Background technique [0002] The kinematics inverse solution of the robot refers to the given Cartesian space position and attitude of the end of the robot to solve its joint angles. The kinematic inverse solution of the robot is the basis for its trajectory planning and motion control. The speed and accuracy of the solution method directly determine the performance of the robot's motion control. The main methods for the inverse solution of robot kinematics are analytical method and numerical method. The analytical method can directly calculate the joint angle through algebraic expressions, which is simple, efficient and fast. It is the method used by most industrial robots to solve the motion control. The numerical method is to solve the joint angle thro...
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Login to View More IPC IPC(8): G06F30/17G06F30/20G06F119/14
CPCG06F30/17G06F30/20G06F2119/14
Inventor 宛敏红周维佳刘晓源张赵威
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI