Inverse kinematics general solving method and device for multi-degree-of-freedom mechanical arm

Abstract

The invention relates to an inverse kinematics general solving method and device for a multi-degree-of-freedom mechanical arm. An exponential product method is used for establishing homogeneous transformation matrixes of the tail end of the mechanical arm in the current state and the target state; defining each current degree-of-freedom angle of the mechanical arm; by using a Newton-Raphson method, performing iteration on each degree-of-freedom angle of the mechanical arm by comparing the motion spinor of the tail end of the mechanical arm, so as to solve a kinematics inverse solution of the mechanical arm; according to the method, the spatial configuration is simple, the tail end control precision is high, establishment of a dynamic model is facilitated, and inverse kinematics general solving of the multi-degree-of-freedom mechanical arm is achieved.

Description

technical field [0001] The invention relates to a general solution method for the inverse kinematics of a robot, in particular to a general solution method and device for the inverse kinematics of a multi-degree-of-freedom mechanical arm. Background technique [0002] With the development of the robotics industry, the robotic arm, as a vital part of the robotics industry, will play an increasingly important role in the future; the inverse solution of the motion of the robotic arm is when the end of the robotic arm is at a certain point and a certain posture. A method to obtain the rotation angle of each degree of freedom of the manipulator; the kinematic inverse solution of the manipulator is the most basic and important part of robotics, and it is directly related to a series of problems such as the motion control and path planning of the robot. At present, the inverse solution method of the manipulator widely used in the traditional robot industry is an analytical method b...

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the complexity and versatility of existing inverse solution methods, the present invention provides a general inverse kinematics solution method suitable for multi-degree-of-freedom manipulators

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