Kinematics analysis method of new-configuration six-degree-of-freedom force feedback hand controller
Through the method of moving the axis and adding virtual joints, the D-H modeling method is improved, and the accuracy of kinematic description of composite hand controllers is solved, and the accuracy of robot operation is improved.
CN120326593APending Publication Date: 2025-07-18NORTHWESTERN POLYTECHNICAL UNIV
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Patent Information
- Application Number
- CN202510301527.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-14
- Publication Date
- 2025-07-18
AI Technical Summary
Technical Problem
When the existing D-H modeling method deals with special-shaped rods and series-parallel composite structures, it is impossible to accurately describe the movement of the robot hand controller, which affects the accuracy.
Method used
By processing the axis of the shift and adding virtual joints, the D-H modeling method is improved, and a kinematic model of the six-degree-of-freedom force feedback hand controller is constructed, suitable for joint and member motion descriptions of composite hand controllers.
Benefits of technology
Accurate kinematic analysis of composite hand controllers is realized, and the accuracy and reliability of robot operation are improved.
✦ Generated by Eureka AI based on patent content.
Abstract
The invention relates to the technical field of robot man-machine interaction, in particular to a kinematics analysis method for a new-configuration six-degree-of-freedom force feedback hand controller, and the method comprises the steps: constructing a joint coordinate system of each rod piece of the hand controller; obtaining D-H parameters of a joint and a rod piece in the hand controller; performing joint processing on the kinematic model of the hand controller; obtaining a conversion matrix between adjacent joints; and the pose of the end effector of the hand controller in the base coordinate system is obtained. According to the method, kinematics modeling is carried out on the six-degree-of-freedom force feedback hand controller which is subjected to shaft shifting processing and added with the virtual joints by utilizing a D-H method, so that the six-degree-of-freedom force feedback hand controller obtained through modeling is more accurate.
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