Composite joint inverse kinematics solving method based on characteristic parameters

Abstract

The invention discloses a composite joint inverse kinematics solving method based on characteristic parameters, and belongs to the technical field of robots. The method comprises the steps that firstly, a forward kinematics model of the multi-degree-of-freedom mechanical arm comprising series composite joints is constructed, a feature matrix comprising 12 variable feature parameters is constructed for a multi-degree-of-freedom composite joint system, and each parameter corresponds to a high-order sine and cosine function; secondly, generating a k-power linear polynomial function by adopting a multivariable polynomial fitting method, and fitting variable characteristic parameters in the characteristic matrix; then, a nonlinear equation set is constructed according to the Jacobian matrix, iterative solution is conducted through the Newton method, a real solution is gradually approached, and finally an accurate solution of the inverse kinematics of the composite joint is obtained. The method has high efficiency, accuracy and universality, and is suitable for kinematics analysis and control of multi-degree-of-freedom robot joints.

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