Formal verification method for inverse kinematics of dexterous hand of three-finger robot and electronic equipment

Abstract

The embodiment of the invention discloses a formal verification method for inverse kinematics of a dexterous hand of a three-finger robot and electronic equipment. The method comprises the following steps: formally describing the content of a spinor theory; inputting the content of the formally-described spinor theory into a theorem prover for proving to obtain a theorem 1, a theorem 2 and a theorem 3; formally describing a Pad-Kahan sub-problem 1, a Pad-Kahan sub-problem 2 and a Pad-Kahan sub-problem 3; inputting the sub-problem 1, the sub-problem 2 and the sub-problem 3 which are subjected to formalized description into the theorem prover for proving to obtain a theorem 4, a theorem 5 and a theorem 6, wherein the theorem 4, the theorem 5 and the theorem 6 are solutions of the sub-problem 1, the sub-problem 2 and the sub-problem 3 correspondingly; and verifying the kinematics solving problem of the dexterous hand of the three-finger robot by utilizing the theorem 1, the theorem 2, the theorem 3, the theorem 4, the theorem 5, the theorem 6, the sub-problem 1, the sub-problem 2 and the sub-problem 3 which are described in a formalized manner.

Description

technical field [0001] The present disclosure relates to the field of robotics technology, in particular to a formal verification method and electronic device for inverse kinematics of a three-fingered robot dexterous hand. Background technique [0002] With the rapid development of artificial intelligence and computers, robots are widely used in various fields of production and life. While bringing convenience to mankind, it also brings significant danger. Therefore, the problem of robot safety has attracted much attention, and the problem of inverse kinematics is the determinant of robot safety. [0003] Traditional testing and simulation are the basic methods to ensure the safe operation of robots. As the robot system becomes more and more complex and the scale of test cases becomes larger and larger, it is almost impossible to carry out complete testing of the system; simulation methods are established on computer software platforms such as Maple and Mathematica, which...

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Problems solved by technology

As the robot system becomes more and more complex and the scale of test cases becomes larger and larger, it is almost impossible to conduct a complete test on the system; simulation methods are established on computer software platforms such as Maple and Mathematica, which are not only affected by computer hardware operations Speed ​​and memory limitations, but also affected by hidden bugs in computer software systems

Therefore, only relying on these traditional incomplete verification methods can no longer meet the safety requirements of safety-critical robot systems.

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