Analytical method, device and electronic equipment for inverse solution of 7-degree-of-freedom srs-type manipulator

Abstract

The invention discloses an analytical method, device and electronic equipment for the inverse solution of a 7-degree-of-freedom SRS-type mechanical arm. The method includes: establishing a world coordinate system of the mechanical arm, a fixed shoulder coordinate system, and a local coordinate system of each joint; Convert the first position and the first posture of the wrist of the robot arm in the world coordinate system to the second position and the second posture in the fixed coordinate system of the shoulder; according to the second position, the length of the upper arm and the length of the lower arm of the robot arm , to calculate the joint angle of the elbow joint; among the three joints of the shoulder, select the joint angle of one joint as the optimization variable; according to the joint angle of the elbow joint, the optimization variable, the second position, the first coordinate and the second coordinate, calculate The joint angles of the remaining two joints of the shoulder; the joint angles of the three joints of the wrist are calculated based on the optimization variables, the joint angles of the remaining two joints of the shoulder, the joint angles of the elbow joint, and the second pose.

Description

technical field [0001] The present application relates to the field of inverse solutions of robot manipulators, in particular to an analytical method, device and electronic equipment for inverse solutions of 7-degree-of-freedom SRS-type manipulators. Background technique [0002] The mechanical arm with 6 degrees of freedom has low flexibility and small operating space due to its joint limit and singular configuration. Therefore, in practical applications, robotic arms with 7 or more degrees of freedom are often used to improve flexibility and operating space. [0003] When the manipulator performs a task, the task information is described in the Cartesian space. However, when controlling the actual manipulator, the task is completed by controlling the motors of each joint of the manipulator. Therefore, the task needs to be described in the Cartesian space. Describe the joint space transformed into the manipulator, this transformation is the inverse kinematics of the manipu...

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Problems solved by technology

[0006] The purpose of the embodiment of the present application is to provide an analytical method, device and electronic equipment for the inverse solution of a 7-DOF SRS-type manipulator, so as to solve the technical problem of insufficient accuracy and efficiency of the inverse solution of the manipulator in the related art

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