Kinematics analytical solution preferential method and device, computer equipment and storage medium

Abstract

The invention relates to a kinematics analytical solution preferential method and device, computer equipment and a storage medium. The method comprises the steps that a current angle value of a robot and a target angle value of a kinematics inverse solution are obtained; according to the angle difference between the current angle value and the first position and the angle difference between the target angle value and the second position and the angle difference between the current angle value and the target angle value and the angle difference between the target angle value and the second position, the reference position of motion between the current angle value and the target angle value is judged, the first position is the robot motion critical position, and the difference between the second position and the first position is 180 degrees; the reference position is a first position or a second position; and determining and outputting an optimal solution of motion between the current angle value and the target angle value according to the reference position. According to the method, the optimal solution of the inverse kinematics can be accurately obtained at the motion critical position of the robot, and the motion fluency and safety of the industrial robot are guaranteed.

Description

technical field [0001] The present application relates to the technical field of industrial control, and in particular, to a kinematic analysis solution optimization method, device, computer equipment and storage medium. Background technique [0002] At present, the position control system of the industrial robot is basically based on the inverse kinematics solution, the joint angle corresponding to the target position is solved, and the joint angle information is input into the control system of the industrial robot to control the position of each joint. The kinematic inverse solution algorithm is mainly divided into numerical solution and analytical solution. The numerical solution is characterized by high versatility and unique solution, but the solution speed is relatively slow (millisecond level), and the analytical solution is characterized by fast operation (microsecond level), It will produce multiple solutions, but the generality is poor. In order to enable the ind...

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Problems solved by technology

This method is applicable under normal circumstances, but it is not applicable in the critical state of the joint angle. If the optimal solution cannot be obtained, smooth motion cannot be guaranteed.

Moreover, in the process of selecting the best, if the threshold value is set too small, the optimal solution will be filtered out. If the threshold value is set too large, a suboptimal solution will be obtained, resulting in a sudden change in the angle of the robot, which will cause damage to the external environment.

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