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Mechanical arm inverse kinematics solving method based on variable-dimension scaling

A robotic arm and scaling technology, applied in the field of robotics, can solve problems such as complexity, inability to achieve obstacle avoidance, non-unique inverse solution of robotic arm kinematics, etc.

Active Publication Date: 2021-10-26
BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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Problems solved by technology

[0005] The technical problem solved by the present invention is: aiming at the deficiencies of the prior art, the present invention provides a method for solving the inverse kinematics of the manipulator based on variable dimension scaling, to Solve the problems of non-uniqueness, complexity and inability to avoid obstacles in the kinematics inverse solution of redundant manipulators

Method used

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  • Mechanical arm inverse kinematics solving method based on variable-dimension scaling
  • Mechanical arm inverse kinematics solving method based on variable-dimension scaling
  • Mechanical arm inverse kinematics solving method based on variable-dimension scaling

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Embodiment Construction

[0045] The present invention will be further elaborated below in conjunction with embodiment.

[0046] In this method, obstacles are not considered first, and the path of the end point of the mechanical arm is scaled according to a certain ratio, so as to obtain the path of each joint, and the proportional relationship is related to the length of the arm. If the arm stick touches an obstacle when moving along the path, adjust the movement path of the end point of the mechanical arm and the center point of each joint according to the position of the obstacle and a certain proportional relationship. Plan the path of each joint center point that can realize the movement of the end point of the manipulator according to the expected path and realize obstacle avoidance. Finally, through the inverse kinematics solution of the motion path of each joint center point, the variation law of the pitch angle and yaw angle of each joint can be obtained.

[0047] figure 2 It is a schematic...

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Abstract

The invention relates to a mechanical arm inverse kinematics solving method based on variable-dimension scaling. The method comprises the steps that a three-dimensional path is converted into a two-dimensional path; a path scaling proportion relation is formulated according to the length of each arm lever; and after the two-dimensional path of the tail end point of a mechanical arm and the central point of each joint is planned, the two-dimensional path is converted into the three-dimensional path so as to carry out inverse kinematics solving to obtain the change rule of each joint angle. According to the method, the tail end point of the mechanical arm can move according to an expected path by using the fewest degree of freedom; obstacle avoidance can be achieved by fully utilizing the redundancy performance of the redundant mechanical arm; and an inverse kinematics solution can be obtained at a time without carrying out iterative solving during inverse kinematics solving. The method is suitable for various obstacle environments.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method for solving the inverse kinematics of a mechanical arm based on variable dimension scaling. Background technique [0002] The redundant robotic arm has multiple degrees of freedom and multiple motion modes, and can perform tasks in small, complex and unstructured environments. It has multi-objective optimization capabilities, not only has excellent environmental adaptability and high avoidance It can also work in unstructured environment and multi-device environment. In practical applications, inverse kinematics solution is required to complete the path planning and control of the manipulator, and the inverse kinematics problem of redundant manipulators has more important significance. [0003] The calculation process of inverse kinematics solution using numerical method and intelligent algorithm is often complicated, so geometric method can be used to simplify and reduc...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1628B25J9/1643B25J9/1664
Inventor 贾龙飞黄玉平周海平陶云飞王子兴尹业成
Owner BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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