A kinematics solving method and system for a seven-degree-of-freedom teleoperation manipulator system

Abstract

This invention provides a method and system for solving the kinematics of a seven-degree-of-freedom (DOF) teleoperated manipulator system. The method includes: establishing a D-H coordinate system for the seven-DOF teleoperated manipulator; acquiring at least two sets of link pose transformation data for the seven-DOF teleoperated manipulator; using the D-H matrix method, constructing a logical processing mechanism based on preset relationships to process the D-H coordinate system and link pose transformation data, thereby establishing the forward kinematic equations of the seven-DOF teleoperated manipulator to characterize the link coordinate relationships; real-time acquisition of preset manipulator angles, setting these preset angles as known values; and using an inverse matrix transformation method to process the link coordinate relationships and preset angles, thereby solving for the desired angles of the seven-DOF teleoperated manipulator, which serve as the kinematic solution for the seven-DOF teleoperated manipulator. This method solves the technical problems of high computational complexity and difficulty in solving inverse kinematics in existing technologies.

Description

Technical Field

[0001] This invention relates to the field of robot control, specifically to a method and system for solving the kinematics of a seven-degree-of-freedom teleoperated manipulator system. Background Technology

[0002] Compared to six-DOF robotic arms, seven-DOF robotic arms offer greater flexibility and superior performance in complex workspaces, avoiding singularities, optimizing load distribution, and other performance metrics. However, the increased number of degrees of freedom in seven-DOF robotic arms makes the inverse kinematics calculation more complex and computationally intensive, resulting in a more challenging solution process.

[0003] The existing invention patent application document CN113997282A, entitled "Method, Apparatus, Electronic Device, and Storage Medium for Controlling a Robotic Arm," describes the following steps: First, it obtains a reference joint angle; second, it obtains the collision situation between the target joint and the articulated arm, and based on the collision situation, it obtains a first weight parameter; third, it obtains a reference motor angle and the current motor angle, and obtains a third weight parameter for each of the reference joint angles; and finally, based on the first, second, and third weight parameters, it obtains the optimal solution for the joint angle and controls the rotation of the target joint. By introducing judgment conditions for motor angle optimization and joint collision optimization, weight determination is performed to obtain the optimal solution for the joint angle. The specification discloses that: first, the DH matrix method is used to establish the link coordinate system of the robotic arm; based on the given end-effector pose, the expression of the wrist joint point in the shoulder joint coordinate system is solved; an arm angle plane is established; the arm angle and the arm angle plane are obtained; and by obtaining the cosine and tangent function relationships between each joint angle θi and the arm angle, the reference joint rotation angle of the target joint for the next movement of the robotic arm is solved, and the optimal solution is obtained through three paths. This existing invention patent application does not disclose the technical solution and specific implementation logic of this application, nor can it achieve the technical effect of this application.

[0004] The existing invention patent application, CN112642741A, entitled "A Method, Apparatus, Industrial Control Equipment, and Storage Medium for Sorting Items," describes a dual-arm sorting system using a first robotic arm and a second robotic arm. When the first robotic arm's end effector carries the first item to be sorted, the system obtains a first path space for sorting the first item and a second path space for sorting the second item. It then determines whether the first and second path spaces intersect; if not, the first robotic arm sorts the first item. The specification of this application discloses that the step of determining the maximum reachable space of the first robotic arm's end effector may include: establishing a robot kinematics model using a DH matrix; and determining the maximum reachable space of the first robotic arm's end effector based on the robot kinematics model. This existing invention patent application does not disclose the technical solution of this application and cannot achieve the technical effect of this application.

[0005] In summary, existing technologies suffer from the technical problems of high computational complexity and difficulty in solving inverse kinematics. Summary of the Invention

[0006] The technical problem to be solved by this invention is how to solve the problems of large computational load and high difficulty in solving inverse kinematics in the prior art.

[0007] This invention solves the above-mentioned technical problems by employing the following technical solution: A method for solving the kinematics of a seven-degree-of-freedom teleoperated robotic arm system includes:

[0008] S1. Collect and acquire the link coordinate data of the tested robotic arm system to establish the DH coordinate system of the seven-degree-of-freedom teleoperated robotic arm.

[0009] S2. Obtain no less than two sets of link pose transformation data of the seven-degree-of-freedom teleoperated manipulator. Using the DH matrix method, construct a logic to process the DH coordinate system and link pose transformation data of the seven-degree-of-freedom teleoperated manipulator based on the preset relationship. Based on this, establish the forward kinematic equation of the seven-degree-of-freedom teleoperated manipulator to characterize the link coordinate relationship of the manipulator.

[0010] S3. Real-time acquisition of the preset robot arm angle of the seven-degree-of-freedom teleoperated robot arm, and setting the preset robot arm angle to a known value;

[0011] S4. Using the matrix inverse transformation method, the coordinate relationship of the robotic arm links and the preset robotic arm angle are processed with the preset inverse transformation logic. The angle to be determined for the seven-degree-of-freedom robotic arm is obtained based on this, and is used as the kinematic solution result of the seven-degree-of-freedom teleoperated robotic arm.

[0012] This invention establishes a DH coordinate system for a seven-DOF robotic arm and uses the DH matrix method to establish the forward kinematics equations of the robotic arm, thereby obtaining the coordinate relationships of each link in the seven-DOF robotic arm. This invention sets the preset robotic arm angles as known values ​​and uses inverse matrix transformation to solve the inverse kinematics of the seven-DOF robotic arm, ultimately obtaining the angle data of the seven-DOF robotic arm. This invention solves the problem of the large computational burden and high solution difficulty caused by the higher degree of freedom of seven-DOF robotic arms compared to other robotic arms in practical applications.

[0013] In a more specific technical solution, step S1 includes:

[0014] S11. Obtain the joint angles, movement distances, and directions of the seven-DOF robotic arm;

[0015] S12. Establish a base coordinate system 0 with the robot arm base as the starting point, and sequentially number it to the end of the seven-degree-of-freedom robot arm to establish coordinate system 7, which serves as the DH coordinate system of the seven-degree-of-freedom teleoperated robot arm.

[0016] S13. Based on the DH coordinate system of the seven-degree-of-freedom teleoperated robot, obtain the robot's coordinate system transformation matrix using preset logic:

[0017]

[0018] In a more specific technical solution, step S2 includes:

[0019] S21. Process the DH coordinate system and link pose transformation data of the seven-DOF teleoperated manipulator, and solve for the coordinate system matrix between each pair of adjacent links of the manipulator. i-1 i T:

[0020]

[0021] S22. Multiply the coordinate system matrix to obtain the transformation matrix of the robot arm's end effector coordinate system relative to the robot arm's base coordinate system.

[0022]

[0023] In a more specific technical solution, in step S3, during the joint angle calculation process, the second angle is made to move as little as possible so that the second angle is taken as a known value and the value of the second angle is collected by the sensor group on the seven-degree-of-freedom robot arm, which is then substituted into the equation to solve for the first, third, fourth, fifth, sixth and seventh angles of the seven-degree-of-freedom robot arm.

[0024] This invention addresses the situation in real-world applications where the upper arm of a robotic arm bears the greatest load during movement. To minimize the movement of angle 2 during the calculation process, angle 2 is used as a known value, acquired in real-time by the robotic arm. This value serves as input data for subsequent calculations using the inverse matrix transformation method to solve for other angles of the robotic arm, reducing computational load, lowering the overall difficulty of the solution process, and improving computational efficiency.

[0025] In a more specific technical solution, step S4 includes:

[0026] S41. Obtain the pose data of the seven-degree-of-freedom robotic arm and calculate the rotation angle of the sixth joint accordingly.

[0027] S42. Calculate the rotation angle of the seventh joint of the seven-degree-of-freedom robotic arm based on the pose matrix;

[0028] S43. Calculate the rotation angle of the fifth joint of the seven-degree-of-freedom robotic arm based on the pose matrix;

[0029] S44. Solve the equations in the pose matrix to obtain the rotation angle of the third joint of the seven-degree-of-freedom robotic arm.

[0030] S45. Solve the equations in the pose matrix to obtain the rotation angles of the second, third, and fourth joints of the seven-degree-of-freedom robotic arm.

[0031] In a more specific technical solution, step S41 includes:

[0032] S411. Obtain the pose matrix based on the forward kinematics of the robotic arm.

[0033] S412, multiply by the left side of both sides of the equation for the pose matrix. The following first matrix equation is obtained:

[0034]

[0035] S413. Make the elements in the second row and fourth column of both sides of the first matrix equation equal to obtain the following logic for obtaining the first angle:

[0036] c1p y -s1p x =0

[0037] S414. The value of the first angle θ1 is obtained by solving the angle calculation logic:

[0038] Atan2(p y ,p x ) and θ1=Atan2(-p y ,-p x )

[0039] Where s1 = sin(θ1) and c1 = cos(θ1).

[0040] S415. Make the elements in the 3rd row and 2nd column of both sides of the first matrix equation equal, so as to obtain the logic for solving the sixth angle:

[0041] c1a y -s1a x =c6=m1

[0042] The rotation angle of the sixth joint was thus obtained.

[0043]

[0044] In a more specific technical solution, step S42 includes:

[0045] S421, According to the pose matrix Multiply both sides of the equation on the right. To obtain the second matrix equation

[0046] S422. Make the elements in the first row and first column of the second matrix equation equal to the elements in the third row and third column, to obtain the logic for solving the seventh angle:

[0047] (n x +c1c6o z )c7+(c1c6n z -o x )s7=-s1s6

[0048] S423. Let the logic for determining the seventh angle satisfy: m2 = n x +c1c6o z m3 = c1c6n z -o x m4 = -s1s6, to obtain the rotation angle θ7 of the seventh joint:

[0049]

[0050] In a more specific technical solution, step S43 includes:

[0051] S431. Obtain the pose matrix from forward kinematics. Multiply both sides of the equation on the right. The formula for the third matrix can be obtained:

[0052]

[0053] S432. Make the elements in the second row and second column of the third equation equal to obtain the initial solution logic for the fifth angle:

[0054]

[0055] S433. Simplify the initial solution logic for the fifth angle to obtain the logic for obtaining the fifth angle:

[0056] (n y c6c7-o y c6s7-a y s6s5+n z s1s7+o z s1s7)s5+(n y s7-n z s1c6c7+o z s1c6s7+a z s1s6)c5=0

[0057] S434. Using the fifth perspective to obtain the logic, using the following logic:

[0058]

[0059] To obtain the rotation angle θ5 of the fifth joint: θ 23 =atan2(m6,m5) and θ 23 =atan2(-m6,-m5).

[0060] In a more specific technical solution, step S44 includes:

[0061] S441. Using the following logic, the element in the 2nd row and 4th column of the pose matrix is ​​equal to the element in the 3rd row and 4th column, thus obtaining the logic for obtaining the third angle:

[0062]

[0063] S442. Obtain the second and third joint angle data θ using the third angle calculation logic. 23 :

[0064] θ 23 =atan2(c 23 ,s 23 );

[0065] S443. Obtain the rotation angle of the third joint by calculating the real-time collected robot arm angles: θ3=θ 23 -θ2.

[0066] In a more specific technical solution, a kinematics solution system for a seven-degree-of-freedom teleoperated robotic arm system includes:

[0067] The DH coordinate system establishment module is used to collect the link coordinate data of the tested robotic arm system and establish the DH coordinate system of the seven-degree-of-freedom teleoperated robotic arm.

[0068] The link coordinate relationship module is used to acquire no less than two sets of link pose transformation data of the seven-degree-of-freedom teleoperated manipulator. Using the DH matrix method, the logic is constructed based on the preset relationship to process the DH coordinate system of the seven-degree-of-freedom teleoperated manipulator and the link pose transformation data, thereby establishing the forward kinematic equation of the seven-degree-of-freedom teleoperated manipulator to characterize the link coordinate relationship of the manipulator. The link coordinate relationship module is connected to the DH coordinate system establishment module.

[0069] The known value setting module is used to collect the preset robot arm angle of the seven-degree-of-freedom teleoperated robot arm in real time and set the preset robot arm angle as a known value.

[0070] The matrix inverse transformation module is used to process the linkage coordinate relationship and preset robot arm angles using the matrix inverse transformation method and preset inverse transformation logic. Based on this, the desired angle of the seven-degree-of-freedom robot arm is obtained, which serves as the kinematic solution result of the seven-degree-of-freedom teleoperated robot arm. The matrix inverse transformation module is connected to the linkage coordinate relationship module and the known value setting module.

[0071] Compared with existing technologies, this invention has the following advantages: This invention establishes a DH coordinate system for a seven-degree-of-freedom (DOF) robotic arm and uses the DH matrix method to establish the forward kinematics equations of the robotic arm, thus obtaining the coordinate relationships of each link in the seven-DOF robotic arm. This invention sets the preset robotic arm angles as known values ​​and uses the inverse matrix transformation method to solve the inverse kinematics of the seven-DOF robotic arm, ultimately obtaining the angle data of the seven-DOF robotic arm. This invention solves the problem of the large computational load and high solution difficulty caused by the higher degree of freedom of seven-DOF robotic arms compared to other robotic arms in practical applications.

[0072] This invention addresses the situation in real-world applications where the upper arm of a robotic arm bears the greatest load during movement. To minimize the movement of angle 2 during the calculation, angle 2 is used as a known value, acquired in real-time by the robotic arm. This value serves as input data for subsequent calculations of other angles using the inverse matrix transformation method, reducing computational load, lowering the overall difficulty, and improving computational efficiency. This invention solves the technical problems of high computational load and high difficulty in solving inverse kinematics in existing technologies. Attached Figure Description

[0073] Figure 1 This is a schematic diagram illustrating the steps of a kinematics solution method for a seven-degree-of-freedom teleoperated robotic arm system according to Embodiment 1 of the present invention;

[0074] Figure 2This is a schematic diagram of the linkages and joints of the seven-degree-of-freedom teleoperated robotic arm according to Embodiment 1 of the present invention;

[0075] Figure 3 This is a schematic diagram of the joint angles and movement data of the seven-degree-of-freedom robotic arm in Embodiment 1 of the present invention;

[0076] Figure 4 This is a flowchart of the DH coordinate system construction process in Embodiment 1 of the present invention;

[0077] Figure 5 This is a schematic diagram of the link coordinate system data processing flow in Embodiment 1 of the present invention;

[0078] Figure 6 This is a flowchart of the angle processing and acquisition process of the seven-degree-of-freedom robotic arm in Embodiment 1 of the present invention. Detailed Implementation

[0079] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0080] Example 1

[0081] like Figure 1 and Figure 2 As shown, the kinematics solution method for a seven-degree-of-freedom teleoperated manipulator system provided by this invention includes the following steps:

[0082] S1. Establish the DH coordinate system based on the robotic arm;

[0083] S2. Establish the forward kinematic equations of the robotic arm using the DH matrix method to obtain the coordinate relationships of the robotic arm links;

[0084] S3. The robot arm angle 2 is made a known value, which is collected in real-time by the robot arm. In this embodiment, the invention is based on the inverse matrix transformation method and a method for solving the robot arm kinematics using angle 2 as a known value. During the entire robot arm movement, the upper arm bears the greatest load. Therefore, the robot arm's angle 2 is minimized during the calculation, and is thus used as a known value obtained through real-time collection by the robot arm. Then, the inverse matrix transformation method is used to solve for the other angles of the robot arm. This invention significantly reduces the computational load, lowers the overall difficulty of the solution process, and improves computational efficiency.

[0085] S4. Solve for the angles of the seven-degree-of-freedom robotic arm using the inverse matrix transformation method.

[0086] like Figure 3 As shown, in this embodiment, step S1 includes:

[0087] S11. Obtain the joint angles, movement distances, and directions of the seven-degree-of-freedom robotic arm. In this embodiment, this is achieved using basic robotics knowledge and supplementary... Figure 2 It can be known that a i Indicates x along the i-th joint i Axial direction, from z i To z i+1 The distance moved, a i The length of the link is called α. i x represents the x around the i-th joint i Axial direction, from z i To z i+1 The angle of rotational movement is called the link torsion angle; d i Represents z along the i-th joint i axial direction, from x i To x i+1 The distance moved is defined as the link offset; θ i Represents z around the i-th joint i axial direction, from x i To x i+1 The angle of rotational movement is called the joint angle.

[0088] like Figure 4 As shown, in step S12, the DH coordinate system of the robotic arm is established. A base coordinate system 0 is established with the robotic arm base as the starting point, and coordinate systems numbered sequentially up to the end of the robotic arm to establish coordinate system 7. This coordinate system is the DH coordinate system. Please refer to the robotic arm DH parameter table in this embodiment:

[0089]

[0090] Where α1, α2, α3, α4, α5, α6, and α7 represent the rotation angle α of the z-axis of the preceding coordinate system around its x-axis to coincide with the z-axis of the following coordinate system; a1, a2, a3, a4, a5, a6, and a7 represent the vertical distances between the z-axis of the adjacent coordinate systems of each joint of the robotic arm; d1, d2, d3, d4, d5, d6, and d7 represent the offset distances of the origin between coordinate systems 1-7; and θ1, θ2, θ3, θ4, θ5, θ6, and θ7 represent the rotation angles of each joint.

[0091] S12. Obtain the transformation matrix of the mechanical coordinate system; In this embodiment, the transformation matrix of the mechanical arm coordinate system can be obtained from the DH coordinate system of the mechanical arm as follows:

[0092]

[0093] This is the general formula for the homogeneous transformation from coordinate system i to coordinate system i-1, where i = 1, 2, 3, 4, 5, 6, 7.

[0094] like Figure 5 As shown, in this embodiment, step S2 includes:

[0095] S21. Calculate and obtain the coordinate system matrix of each adjacent link; in this embodiment, the coordinate system matrix between each pair of adjacent links of the robotic arm is obtained based on the solution in step S1. As shown in the following formula:

[0096]

[0097] S22. Obtain the transformation matrix of the robot arm's end effector coordinate system relative to the robot arm's base coordinate system; In this embodiment, based on the transformation matrices of each link of the robot arm obtained in S21, multiplying each matrix together yields the transformation matrix of the robot arm's end effector coordinate system relative to the robot arm's base coordinate system. yes:

[0098]

[0099] T represents the position and attitude transformation matrix of the robotic arm; This represents the position matrix of the robot's end effector. This represents the attitude matrix.

[0100] (n x ,n y ,n z (o) represents the coordinate representation of the x-axis of the robotic arm's end effector in the base coordinate system. x ,o y ,o z (a) represents the coordinate representation of the y-axis of the robotic arm's end effector in the base coordinate system. x ,a y ,a z (p) represents the coordinate representation of the z-axis of the robotic arm's end effector in the base coordinate system. x ,p y ,p z The coordinates of the origin of the end effector coordinate system of the robotic arm are given by the coordinates of the origin in the base coordinate system.

[0101] In this embodiment, during the entire movement process, the robotic arm in step S3 has the largest load-bearing capacity. When solving the problem, the angle 2 is minimized, so the angle 2 is taken as a known value. At the same time, the value of the angle 2 is obtained by real-time acquisition during the movement of the robotic arm. Then, the angle 2 is substituted into the equation to solve for the other angles of the robotic arm.

[0102] like Figure 6As shown, in this embodiment, step S4 includes:

[0103] S41. Obtain the pose data of the seven-DOF robotic arm and calculate the rotation angle of the sixth joint. In this embodiment, the pose matrix is ​​obtained from the forward kinematics of the robotic arm. Multiply both sides of the equation by the left side We can obtain:

[0104] Making the elements in the second row and fourth column of both sides of the equation equal yields:

[0105] c1p y -s1p x =0

[0106] The value of θ1 can be obtained from the above formula: Atan2(p y ,p x ) and θ1=Atan2(-p y ,-p x In the formula above, s1 = sin(θ1) and c1 = cos(θ1).

[0107] Make the equation The element in the 3rd row and 2nd column on both the left and right sides can be obtained by solving:

[0108] c1a y -s1a x =c6=m1

[0109] The solution can be obtained from the above formula:

[0110] S42. Calculate the rotation angle of the seventh joint of the seven-DOF robotic arm based on the pose matrix. In this embodiment, the pose matrix is ​​obtained from forward kinematics. Multiply both sides of the equation on the right. It can be obtained

[0111] To make the elements in the first row and first column of the above equation equal to the elements in the third row and third column, we can solve for:

[0112] (n x +c1c6o z )c7+(c1c6n z -o x )s7=-s1s6

[0113] To simplify the solution, let m2 = n in the formula above. x +c1c6o z m3 = c1c6n z -o xSince m4 = -s1s6, θ7 can be calculated as follows:

[0114] S43. Calculate the rotation angle of the fifth joint of the seven-DOF robotic arm based on the pose matrix; in this embodiment, the pose matrix is ​​obtained from forward kinematics. Multiply both sides of the equation on the right. It can be obtained

[0115] To make the elements in the second row, second column, and third row, first column of the above equation equal, we can solve for:

[0116]

[0117] Simplifying, we get:

[0118] (n y c6c7-o y c6s7-a y s6s5+n z s1s7+o z s1s7)s5+(n y s7-n z s1c6c7+o z s1c6s7+a z s1s6)c5=0

[0119] Make:

[0120]

[0121] θ5 is obtained: θ 23 =atan2(m6,m5) and θ 23 =atan2(-m6,-m5).

[0122] S44. The rotation angle of the third joint of the seven-DOF robotic arm is obtained by solving the elements in the pose matrix. In this embodiment, the element in the second row and fourth column of the above equation is equal to the element in the third row and fourth column, which can be obtained by solving the equation.

[0123]

[0124] θ can be obtained by solving the above formula. 23 θ 23 =atan2(c 23 ,s 23 The robotic arm angle can be acquired in real time, therefore it can be solved to obtain: θ3 = θ 23 -θ2. The formula obtained above ( 75 p x , 75 py , 75 p z )express:

[0125] The position matrix.

[0126] S45. The rotation angles of the second, third, and fourth joints of the seven-degree-of-freedom robotic arm are obtained by solving the elements in the pose matrix; in this embodiment, the equation is... The element in the 3rd row and 1st column is equal to the element in the 3rd row and 2nd column, which can be solved to obtain:

[0127]

[0128] θ can be obtained from the above formula. 234 θ 234 =atan2(s 234 ,c 234 ), θ4=θ 234 -θ2-θ3.

[0129] In summary, this invention establishes a DH coordinate system for a seven-DOF robotic arm and uses the DH matrix method to establish the forward kinematics equations of the robotic arm, thereby obtaining the coordinate relationships of each link in the seven-DOF robotic arm. This invention sets the preset robotic arm angles as known values ​​and uses inverse matrix transformation to solve the inverse kinematics of the seven-DOF robotic arm, ultimately obtaining the angle data of the seven-DOF robotic arm. This invention solves the problem of the large computational burden and high solution difficulty caused by the higher degree of freedom of seven-DOF robotic arms compared to other robotic arms in practical applications.

[0130] This invention addresses the situation in real-world applications where the upper arm of a robotic arm bears the greatest load during movement. To minimize the movement of angle 2 during the calculation, angle 2 is used as a known value, acquired in real-time by the robotic arm. This value serves as input data for subsequent calculations of other angles using the inverse matrix transformation method, reducing computational load, lowering the overall difficulty, and improving computational efficiency. This invention solves the technical problems of high computational load and high difficulty in solving inverse kinematics in existing technologies.

[0131] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for solving the kinematics of a seven-degree-of-freedom teleoperated robotic arm system, characterized in that, The method includes: S1. Collect and acquire the link coordinate data of the tested robotic arm system to establish the DH coordinate system of the seven-degree-of-freedom teleoperated robotic arm. S2. Obtain no less than two sets of link pose transformation data of the seven-degree-of-freedom teleoperated manipulator. Using the DH matrix method, construct a logic to process the DH coordinate system and link pose transformation data of the seven-degree-of-freedom teleoperated manipulator based on the preset relationship. Based on this, establish the forward kinematic equation of the seven-degree-of-freedom teleoperated manipulator to characterize the link coordinate relationship of the manipulator. S2 includes: S21. Process the DH coordinate system and link pose transformation data of the seven-DOF teleoperated manipulator, and solve for the coordinate system matrix between each pair of adjacent links of the manipulator. : S22. Multiply the coordinate system matrix to obtain the transformation matrix of the robot arm's end effector coordinate system relative to the robot arm's base coordinate system. : S3. Real-time acquisition of the preset robot arm angle of the seven-degree-of-freedom teleoperated robot arm, and setting the preset robot arm angle to a known value; S4. Using the matrix inverse transformation method, the coordinate relationship of the robotic arm links and the preset robotic arm angle are processed with the preset inverse transformation logic. The angle to be determined for the seven-degree-of-freedom robotic arm is obtained based on this, and is used as the kinematic solution result of the seven-degree-of-freedom teleoperated robotic arm.

2. The kinematics solution method for a seven-degree-of-freedom teleoperated robotic arm system according to claim 1, characterized in that, Step S1 includes: S11. Obtain the joint angles, movement distances, and directions of the seven-DOF robotic arm; S12. Establish a base coordinate system 0 with the robot arm base as the starting point, and sequentially number it to the end of the seven-degree-of-freedom robot arm to establish coordinate system 7, which serves as the DH coordinate system of the seven-degree-of-freedom teleoperated robot arm. S13. Based on the seven-degree-of-freedom teleoperated manipulator's DH coordinate system, obtain the manipulator's coordinate system transformation matrix using preset logic: 。 3. The kinematics solution method for a seven-degree-of-freedom teleoperated robotic arm system according to claim 1, characterized in that, In step S3, during the joint angle calculation process, the second angle is made to move as little as possible so that the second angle is taken as a known value. The value of the second angle is collected by the sensor group on the seven-degree-of-freedom robotic arm and substituted into the equation to solve for the first, third, fourth, fifth, sixth and seventh angles of the seven-degree-of-freedom robotic arm.

4. The kinematics solution method for a seven-degree-of-freedom teleoperated robotic arm system according to claim 3, characterized in that, Step S4 includes: S41. Obtain the pose data of the seven-degree-of-freedom robotic arm and calculate the rotation angle of the sixth joint accordingly. S42. Calculate the rotation angle of the seventh joint of the seven-degree-of-freedom robotic arm based on the pose matrix; S43. Calculate the rotation angle of the fifth joint of the seven-degree-of-freedom robotic arm based on the pose matrix; S44. Solve the equations in the pose matrix to obtain the rotation angle of the third joint of the seven-degree-of-freedom robotic arm. S45. Solve the equations in the pose matrix to obtain the rotation angles of the second, third, and fourth joints of the seven-degree-of-freedom robotic arm.

5. The kinematics solution method for a seven-degree-of-freedom teleoperated robotic arm system according to claim 4, characterized in that, Step S41 includes: S411. Obtain the pose matrix based on the positive kinematics of the robotic arm. ; S412, multiply by the left side of both sides of the equation in the pose matrix. This yields the following first matrix equation: ； S413. Make the elements in the second row and fourth column of both sides of the first matrix equation equal to obtain the following logic for obtaining the first angle: S414. Obtain the first angle by solving the angle calculation logic. The value is: as well as Where s1 = sin( 1), c1=cos( 1); S415. Make the elements in the 3rd row and 2nd column of both sides of the first matrix equation equal, so as to obtain the logic for solving the sixth angle: The rotation angle of the sixth joint was thus obtained by calculation: .

6. The kinematics solution method for a seven-degree-of-freedom teleoperated robotic arm system according to claim 4, characterized in that, Step S42 includes: S421, According to the pose matrix Multiply both sides of the equation on the right. To obtain the second matrix equation ; S422. Make the elements in the first row and first column of the second matrix equation equal to the elements in the third row and third column, to obtain the logic for solving the seventh angle: S423. Let the logic for obtaining the seventh angle satisfy: m 2= n x + c 1 c 6 o z , m 3= c 1 c 6 n z - o x , m 4=- s 1 s 6. The rotation angle of the seventh joint is obtained by solving the equation. : 。 7. The kinematics solution method for a seven-degree-of-freedom teleoperated manipulator system according to claim 4, characterized in that, Step S43 includes: S431. Obtain the pose matrix from forward kinematics. Multiply both sides of the equation by the right side. The formula for the third matrix can be obtained as follows: ； S432. Make the elements in the second row and second column of the third matrix equal to obtain the initial solution logic for the fifth angle: S433. Simplify the initial solution logic for the fifth angle to obtain the logic for obtaining the fifth angle: S434. Using the logic obtained from the fifth angle, the following logic is used: To obtain the rotation angle of the fifth joint : atan2( m 6, m 5) and atan2(- m 6,- m 5).

8. The kinematics solution method for a seven-degree-of-freedom teleoperated robotic arm system according to claim 4, characterized in that, Step S44 includes: S441. Using the following logic, the elements in the 2nd row and 4th column of the pose matrix are equal to the elements in the 3rd row and 4th column, thus obtaining the logic for calculating the third angle: S442. Obtain the second and third joint angle data by using the third angle calculation logic. : atan2( c 23 , s 23 ); S443. Obtain the rotation angle of the third joint by calculating the real-time collected robot arm angles. .

9. A kinematics solution system for a seven-degree-of-freedom teleoperated robotic arm system, used to execute the kinematics solution method for a seven-degree-of-freedom teleoperated robotic arm system as described in any one of claims 1 to 8, characterized in that, The system includes: The DH coordinate system establishment module is used to collect the link coordinate data of the tested robotic arm system and establish the DH coordinate system of the seven-degree-of-freedom teleoperated robotic arm. The link coordinate relationship module is used to acquire no less than two sets of link pose transformation data of the seven-degree-of-freedom teleoperated manipulator. Using the DH matrix method, the DH coordinate system of the seven-degree-of-freedom teleoperated manipulator and the link pose transformation data are processed by the logic of the preset relationship to establish the forward kinematic equation of the seven-degree-of-freedom teleoperated manipulator to characterize the link coordinate relationship of the manipulator. The link coordinate relationship module is connected to the DH coordinate system establishment module. The known value setting module is used to collect the preset robot arm angle of the seven-degree-of-freedom teleoperated robot arm in real time and set the preset robot arm angle as a known value. The matrix inverse transformation module is used to process the coordinate relationship of the robotic arm links and the preset robotic arm angles using the matrix inverse transformation method and preset inverse transformation logic, so as to obtain the unknown angle of the seven-degree-of-freedom robotic arm, which is used as the kinematic solution result of the seven-degree-of-freedom teleoperated robotic arm. The matrix inverse transformation module is connected to the link coordinate relationship module and the known value setting module.

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