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Numerical stabilization algorithm for inverse kinematics analytical solution of S-R-S structure seven-degree-of-freedom mechanical arm

A technology of S-R-S and inverse kinematics, which is applied in the field of numerical stability algorithm for the analytical solution of inverse kinematics of a seven-degree-of-freedom manipulator, and can solve problems such as judgment errors and numerical problems

Active Publication Date: 2021-09-10
BEIHANG UNIV
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Problems solved by technology

In the content of the invention, we will explain that because the selection of the threshold is related to the target pose, choosing a specific threshold will lead to numerical problems and cause judgment errors

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  • Numerical stabilization algorithm for inverse kinematics analytical solution of S-R-S structure seven-degree-of-freedom mechanical arm
  • Numerical stabilization algorithm for inverse kinematics analytical solution of S-R-S structure seven-degree-of-freedom mechanical arm
  • Numerical stabilization algorithm for inverse kinematics analytical solution of S-R-S structure seven-degree-of-freedom mechanical arm

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Embodiment Construction

[0023] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. However, those skilled in the art know that the present invention is not limited to the drawings and the following embodiments.

[0024] In the description of the invention, it should be noted that for orientation words, the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "far", "near" etc. is based on The orientations or positional relationships shown in the drawings are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting the present ...

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Abstract

The invention discloses a numerical stabilization algorithm for an inverse kinematics analytical solution of an S-R-S structure seven-degree-of-freedom mechanical arm. The numerical stabilization algorithm comprises the steps of (1) forward kinematics solution, (2) reference plane solution, (3) inverse kinematics solution, (4) singular arm angle acquisition and (5) joint limiting and singular value avoidance. The core part of the numerical value stabilization algorithm is to provide a singular value avoidance and joint limiting avoidance method for subsequent numerical value stabilization aiming at the numerical value stabilization problem of direct threshold value comparison in previous methods, and the numerical value stabilization algorithm has the following excellent technical effects that (1) the inverse kinematics analytical solution of the S-R-S structure mechanical arm can be obtained, and joint limiting and singular pose avoidance are realized; (2) the whole range of a feasible redundancy angle psi meeting joint limiting and singular value avoiding can be obtained; and 3) the stability of the numerical value is guaranteed in the process of solving the analytical solution.

Description

technical field [0001] The present invention relates to the field of inverse kinematics solution of redundant manipulators, in particular to a numerical stability algorithm for the analytical solution of inverse kinematics of a seven-degree-of-freedom manipulator of S-R-S structure. Background technique [0002] The seven-degree-of-freedom tandem robot has received extensive attention from the robotics community. Compared with the six-degree-of-freedom series robot, the redundant degrees of freedom make the robot more flexible, and can complete obstacle avoidance and avoid problems such as joint limits and singular points. Spherical-rotary-spherical (S-R-S) mechanisms are widely used in seven-degree-of-freedom manipulators. The S-R-S manipulator consists of 7 rotating joints in series, where the axes of the first three joints intersect at a common point to form a 3-DOF shoulder (spherical), the fourth joint serves as an elbow joint (rotation), and finally The axes of the t...

Claims

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Application Information

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IPC IPC(8): G06F30/20G06F119/14
CPCG06F30/20G06F2119/14
Inventor 王君臣卢春姮孙振
Owner BEIHANG UNIV
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