Robot double-layer parallel connection rod leg kinematics calculation method and system

Abstract

The invention provides a robot double-layer parallel connection rod leg kinematics calculation method and system, and relates to the technical field of motion simulation, and the method comprises the steps: initializing the actual structure parameters of a target robot, and building a connection rod coordinate system; obtaining a first node coordinate and a second node coordinate of the target robot based on the connecting rod coordinate system and the actual structure parameters, and establishing a geometric constraint equation by utilizing a rigid connecting rod constraint relation and combining the first node coordinate and the second node coordinate, determining a first mapping relation between a target node coordinate and the first node coordinate and a second mapping relation between the target node coordinate and the second node coordinate; wherein the first node is the front end of the sole, and the second node and the third node are two end points of the knee joint connecting rod; and performing joint solution on the first mapping relation and the second mapping relation, determining the target node coordinate, and determining the motor angle based on the second node coordinate and the target node coordinate.

Description

Technical Field

[0001] This invention relates to the field of motion simulation technology, and in particular to a method and system for calculating the kinematics of the legs of a robot with a double-layer parallel linkage. Background Technology

[0002] Currently, most robot ankles employ a double-link structure to control pitch and roll. Since ankle angle is crucial for robot upright and walking movements, its control accuracy and real-time performance are critical issues. Most existing robot joints use a one-to-one motor-joint control method, where the joint angle is the same as the motor angle. However, to reduce weight or meet aesthetic design requirements, the ankle is often connected to the motor via a link, making the ankle angle a complex nonlinear function of the combined action of two motors. Existing methods mainly include iterative numerical solutions and trigonometric analytical methods. However, iterative numerical solutions heavily rely on initial value selection and are slow, making them difficult to meet the demands of high-frequency real-time control. While trigonometric analytical methods are analytical, their engineering implementation still relies on iterative calculations, resulting in high complexity and difficulty in guaranteeing accuracy in high-dynamic scenarios. Summary of the Invention

[0003] In view of this, the present invention proposes a method and system for calculating the kinematics of the legs of a robot with a double-layer parallel linkage.

[0004] The technical solution of this invention is implemented as follows: The first aspect of this invention provides a method for calculating the kinematics of the legs of a robot with a double-layer parallel linkage, comprising:

[0005] The actual structural parameters of the target robot are initialized, and a link coordinate system is established; the actual structural parameters include the length of the longitudinal link, the length of the transverse link, the width of the foot, the pitch angle of the foot, and the roll angle of the lower link.

[0006] Based on the link coordinate system and the actual structural parameters, the first node coordinates and the second node coordinates of the target robot are obtained. Geometric constraint equations are established by combining the first node coordinates and the second node coordinates using rigid link constraints to determine the first mapping relationship between the target node coordinates and the first node coordinates, and the second mapping relationship between the target node coordinates and the second node coordinates. The first node is the front end of the foot, the second node is the first end point of the knee joint link, connecting the upper link and the lower link, and the target node is the second end point of the knee joint link that is far away from the first end point.

[0007] The first mapping relationship and the second mapping relationship are jointly solved to determine the coordinates of the target node, and the motion angle of the knee joint link is determined based on the second node coordinates and the target node coordinates. The motion angle is then determined as the motor angle.

[0008] Based on the above technical solutions, preferably, obtaining the first node coordinates and second node coordinates of the target robot based on the link coordinate system and the actual structural parameters includes:

[0009] The coordinates of the second node of the target robot are determined based on the origin of the link coordinate system and the actual structural parameters.

[0010] The coordinates of the second node are transformed using a rotation matrix to obtain the coordinates of the first node.

[0011] Based on the above technical solutions, preferably, the step of jointly solving the first mapping relationship and the second mapping relationship to determine the target node coordinates includes:

[0012] Based on the first mapping relationship and the second mapping relationship, a quadratic equation in one variable is constructed, and the larger solution among the two solutions of the quadratic equation in one variable is used to determine the coordinate parameters of the target node coordinates.

[0013] Based on the above technical solution, preferably, the step of determining the motion angle of the knee joint link based on the second node coordinates and the target node coordinates, and defining the motion angle as the motor angle:

[0014] Based on the second node coordinates of the target robot's left knee and the target node coordinates, the first motion angle of the left knee joint link is determined, and the first motion angle is determined as the first motor angle.

[0015] The second motion angle of the right knee joint link is determined based on the second node coordinates of the target robot's right knee and the target node coordinates, and the second motion angle is determined as the second motor angle.

[0016] More preferably, a second aspect of the present invention provides a method for calculating the kinematics of the legs of a robot with a two-layer parallel linkage, comprising:

[0017] The actual structural parameters of the target robot are initialized, and a link coordinate system is established; the actual structural parameters include the length of the longitudinal link, the length of the transverse link, the width of the foot, the pitch angle of the foot, and the roll angle of the lower link.

[0018] The coordinates of the third node are obtained using the motor angle. Geometric constraint equations are established by combining the coordinates of the third node and the link coordinate system to determine the third mapping relationship between the motor angle and the coordinates of the fourth node. The third node is the second end point of the knee joint link, which is connected to the lower link of the target robot. The fourth node is the front end of the foot.

[0019] The motor angle is interpolated using a two-dimensional Bezier curve to determine the ankle angle corresponding to different motor angles; the ankle angle is related to the coordinates of the fourth node.

[0020] Based on the above technical solutions, preferably, the step of obtaining the third node coordinates using the motor angle, establishing geometric constraint equations in combination with the third node coordinates and the link coordinate system, and determining the third mapping relationship between the motor angles and the fourth node coordinates further includes:

[0021] The geometric constraint equations are solved by numerical iteration to determine the third mapping relationship between the motor angle and the coordinates of the fourth node.

[0022] Based on the above technical solutions, preferably, the step of using a two-dimensional Bezier curve to perform first-order interpolation on the motor angle to determine the ankle angle corresponding to different motor angles includes:

[0023] The motor angle is interpolated using a two-dimensional Bezier curve to obtain the angle grid corresponding to the motor angle;

[0024] The ankle angle corresponding to the motor angle is determined based on the nearest values ​​of the motor angle in the angle grid.

[0025] More preferably, a third aspect of the present invention provides a robot dual-layer parallel link leg kinematics calculation system, comprising: a first parameter processing module, a first mapping determination module, and a first angle determination module; wherein,

[0026] The first parameter processing module is configured to initialize the actual structural parameters of the target robot and establish a link coordinate system; the actual structural parameters include the longitudinal length, transverse length, foot width, foot pitch angle and roll angle of the lower link;

[0027] The first mapping determination module is configured to obtain the first node coordinates and the second node coordinates of the target robot based on the link coordinate system and the actual structural parameters, and to establish a geometric constraint equation by combining the first node coordinates and the second node coordinates using rigid link constraints to determine the first mapping relationship between the target node coordinates and the first node coordinates, and the second mapping relationship between the target node coordinates and the second node coordinates; wherein, the first node is the front end of the foot, the second node is the first end point of the knee joint link, connecting the upper link and the lower link, and the target node is the second end point of the knee joint link that is away from the first end point;

[0028] The first angle determination module is configured to jointly solve the first mapping relationship and the second mapping relationship to determine the target node coordinates, and determine the motion angle of the knee joint link based on the second node coordinates and the target node coordinates, and determine the motion angle as the motor angle.

[0029] More preferably, a fourth aspect of the present invention provides a robot dual-layer parallel link leg kinematics calculation system, comprising: a second parameter processing module, a second mapping determination module, and a second angle determination module; wherein,

[0030] The second parameter processing module is configured to initialize the actual structural parameters of the target robot and establish a link coordinate system; the actual structural parameters include the longitudinal length, transverse length, foot width, foot pitch angle, and roll angle of the lower link.

[0031] The second mapping determination module is configured to obtain the coordinates of the third node using the motor angle, establish a geometric constraint equation by combining the coordinates of the third node and the link coordinate system, and determine the third mapping relationship between the motor angle and the coordinates of the fourth node; wherein, the third node is the second end point of the knee joint link, which is connected to the lower link of the target robot; the fourth node is the front end of the foot.

[0032] The second angle determination module is configured to use a two-dimensional Bezier curve to perform first-order interpolation on the motor angle to determine the ankle angle corresponding to different motor angles; the ankle angle is related to the coordinates of the fourth node.

[0033] More preferably, a fifth aspect of the present invention provides an electronic device, including a processor and a memory; the memory has a computer program stored thereon, wherein the computer program, when executed by the processor, implements the robot double-layer parallel link leg kinematics calculation method described in the first or second aspect.

[0034] The kinematics calculation method and system for the legs of a robot with a double-layer parallel linkage according to the present invention have the following advantages over the prior art:

[0035] 1. By initializing the actual structural parameters of the target robot and establishing a link coordinate system, the coordinates of key nodes are obtained based on this coordinate system and the actual structural parameters. Geometric constraint equations are established using rigid link constraint relationships, thereby determining the mapping relationship between the target node coordinates and the coordinates of the first and second nodes. This accurately describes the positional relationship between the links of the robot. While improving the accuracy of ankle angle measurement, this method avoids complex iterative calculation processes, reduces computational complexity, and facilitates fast and accurate control in high-dynamic scenarios, meeting real-time requirements.

[0036] 2. By initializing the actual structural parameters of the target robot and establishing a link coordinate system, the coordinates of the knee joint link endpoints are obtained using the motor angles. Geometric constraint equations are established in conjunction with the link coordinate system to determine the third mapping relationship between the motor angles and the front of the foot, accurately depicting the geometric positional relationship between various parts of the robot's leg. Then, the first-order interpolation of the motor angles using two-dimensional Bezier curves is used to determine the ankle angles corresponding to different motor angles. This allows the ankle angles to be obtained quickly and accurately based on the motor angles during real-time control, without affecting the real-time performance of control due to excessive computational complexity, thus ensuring the robot's rapid response capability in dynamic scenarios. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 A flowchart illustrating a method for calculating the kinematics of a robot's legs in a double-layer parallel linkage, provided in an embodiment of the present invention. Figure 1 ;

[0039] Figure 2 This is a schematic diagram of the robot's double-layer parallel linkage leg structure provided in an embodiment of the present invention;

[0040] Figure 3 A flowchart illustrating a method for calculating the kinematics of a robot's legs in a double-layer parallel linkage, provided in an embodiment of the present invention. Figure 2 ;

[0041] Figure 4 A schematic diagram of the structure of a robot's double-layer parallel linkage leg kinematics calculation system provided in this embodiment of the invention. Figure 1 ;

[0042] Figure 5 A schematic diagram of the structure of a robot's double-layer parallel linkage leg kinematics calculation system provided in this embodiment of the invention. Figure 2 ;

[0043] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0044] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0045] In some embodiments, such as Figure 1 As shown, Figure 1 A flowchart illustrating a method for calculating the kinematics of a robot's legs in a double-layer parallel linkage, provided in an embodiment of the present invention. Figure 1 The present invention provides a method for calculating the kinematics of the legs of a robot with a two-layer parallel linkage, comprising:

[0046] S110 initializes the actual structural parameters of the target robot and establishes the link coordinate system; the actual structural parameters include the length of the longitudinal link, the length of the transverse link, the width of the foot, the pitch angle of the foot, and the roll angle of the lower link.

[0047] In this embodiment, the length of the lower connecting rod is Length of crossbar Foot width For fixed structural parameters, the pitch angle of the end effector, i.e., the foot. and roll angle The input is known.

[0048] S120: Based on the link coordinate system and actual structural parameters, obtain the first node coordinates and second node coordinates of the target robot, and use the rigid link constraint relationship to establish geometric constraint equations in combination with the first node coordinates and second node coordinates to determine the first mapping relationship between the target node coordinates and the first node coordinates, and the second mapping relationship between the target node coordinates and the second node coordinates; wherein, the first node is the front end of the foot, the second node is the first end point of the knee joint link, connecting the upper link and the lower link, and the target node is the second end point of the knee joint link that is far away from the first end point.

[0049] In some embodiments, obtaining the first node coordinates and the second node coordinates of the target robot based on the link coordinate system and actual structural parameters includes:

[0050] The coordinates of the second node of the target robot are determined based on the origin of the link coordinate system and the actual structural parameters.

[0051] The coordinates of the first node are obtained by transforming the coordinates of the second node using a rotation matrix.

[0052] In this embodiment, please refer to Figure 2 , Figure 2This is a schematic diagram of the robot's double-layer parallel linkage leg structure provided in an embodiment of the present invention; with the heel as the coordinate origin (0,0,0), the second node... , The coordinates are The first node, i.e., the coordinates of the forefoot, can be obtained using the rotation matrix. and Here, the first node and the second node include the corresponding position nodes on the left knee and right knee, respectively.

[0053] The following first and second mapping relationships are established using the rigid link constraint relationships:

[0054] ;

[0055] Among them, the target node The coordinates can be represented as , It needs to be solved. and .

[0056] S130, jointly solve the first mapping relationship and the second mapping relationship to determine the target node coordinates, and determine the motion angle of the knee joint link based on the second node coordinates and the target node coordinates, and determine the motion angle as the motor angle.

[0057] In some embodiments, jointly solving the first mapping relationship and the second mapping relationship to determine the target node coordinates includes:

[0058] A quadratic equation in one variable is constructed based on the first and second mapping relationships, and the larger solution among the two solutions of the quadratic equation in one variable is used to determine the coordinate parameters of the target node.

[0059] In this embodiment, The coordinates are set to , coordinates The equations for the first and second mapping relationships can be expanded as follows:

[0060] (1)

[0061] (2)

[0062] (1)-(2) yields:

[0063] (3)

[0064] Here, L is a constant, derived from... , The known coordinates and lengths constitute the equation. Formula (3) is then adjusted to formula (4). In the form of, and They are all constants.

[0065] Substituting formula (4) into formula (1), we obtain the following about A quadratic equation in one variable, in the form of formula (5):

[0066] ;

[0067] Where the coefficient They are all constants. .

[0068] Solve the quadratic equation in one variable, let The above equation (5) has two solutions, the larger one being... and smaller According to physical principles, the knee In the popliteal fossa In front of, that is Therefore, we take the larger solution. for Substituting the value of into formula (4), we can obtain . Thus determined coordinates .

[0069] In structures above the knee, short-bar configurations It is a parallelogram, therefore and parallel. Angle around the motor that is around The angle of rotation, due to the structure of the rigid body link, that is... around The angle of rotation. According to... The coordinates are used to obtain the angle. Similarly, we obtain The coordinates, and the long rod configuration The angle of motor rotation is obtained. .

[0070] In some embodiments, the motion angle of the knee joint link is determined based on the coordinates of the second node and the coordinates of the target node, and the motion angle is defined as the motor angle.

[0071] The first motion angle of the left knee joint link is determined based on the second node coordinates and the target node coordinates of the target robot's left knee, and the first motion angle is determined as the first motor angle.

[0072] The second motion angle of the right knee joint link is determined based on the second node coordinates of the target robot's right knee and the target node coordinates, and the second motion angle is determined as the second motor angle.

[0073] In some embodiments, such as Figure 3 As shown, Figure 3 A flowchart illustrating a method for calculating the kinematics of a robot's legs in a double-layer parallel linkage, provided in an embodiment of the present invention. Figure 2 The present invention provides a method for calculating the kinematics of the legs of a robot with a two-layer parallel linkage, comprising:

[0074] 3210. Initialize the actual structural parameters of the target robot and establish the link coordinate system. The actual structural parameters include the length of the longitudinal link, the length of the transverse link, the width of the foot, the pitch angle of the foot, and the roll angle of the lower link.

[0075] S320: The coordinates of the third node are obtained by using the motor angle. Geometric constraint equations are established by combining the coordinates of the third node and the link coordinate system to determine the third mapping relationship between the motor angle and the coordinates of the fourth node. The third node is the second end point of the knee joint link, which is connected to the lower link of the target robot. The fourth node is the front end of the foot.

[0076] S330 uses a two-dimensional Bezier curve to perform first-order interpolation on the motor angle to determine the ankle angle corresponding to different motor angles; the ankle angle is related to the coordinates of the fourth node.

[0077] In some embodiments, the coordinates of the third node are obtained using the motor angle, and geometric constraint equations are established by combining the third node coordinates and the link coordinate system to determine the third mapping relationship between the motor angle and the fourth node coordinates. The method further includes:

[0078] The third mapping relationship between the motor angle and the coordinates of the fourth node is determined by solving the geometric constraint equations through numerical iteration.

[0079] In some embodiments, a first-order interpolation of the motor angle is performed using a two-dimensional Bezier curve to determine the ankle angle corresponding to different motor angles, including:

[0080] The motor angle is interpolated using a two-dimensional Bezier curve to obtain the angle grid corresponding to the motor angle;

[0081] The ankle angle corresponding to the motor angle is determined based on the nearest values ​​of the motor angle in the angle grid.

[0082] In this embodiment, the motor angle is constructed. , Ankle angle and The mapping relationship. Motor angle. yes around The angle of rotation can be obtained. coordinates ,in , , Similarly, we can obtain The coordinates, and and The coordinates contain two unknowns. and Construct a system of equations:

[0083] (6)

[0084] The system of equations (6) has two unknowns and two equations, which can be solved by numerical iteration.

[0085] At motor angle , A mesh is constructed within the range of values ​​for , and the mesh needs to be sufficiently dense. The kinematic mapping relationships at the mesh nodes are pre-calculated based on the above equations. It should be noted that the mesh density can be arbitrarily adjusted according to the accuracy requirements.

[0086] In one example, the motor angle , The nearest neighbor point on the grid satisfies:

[0087] ;

[0088] set up , ;in, , .

[0089] There is a correlation between the motor angle and the ankle angle: correspond , correspond , correspond , correspond The interpolation can be obtained according to the following formula:

[0090] ;

[0091] ;

[0092] Therefore, the ankle angle corresponding to the motor angle is determined based on interpolation.

[0093] In some embodiments, please refer to Figure 4 , Figure 4A schematic diagram of the structure of a robot's double-layer parallel linkage leg kinematics calculation system provided in this embodiment of the invention. Figure 1 This invention provides a robot dual-layer parallel linkage leg kinematics calculation system 400, comprising: a first parameter processing module 410, a first mapping determination module 420, and a first angle determination module 430; wherein,

[0094] The first parameter processing module 410 is configured to initialize the actual structural parameters of the target robot and establish a link coordinate system; the actual structural parameters include the longitudinal length, transverse length, foot width, foot pitch angle and roll angle of the lower link;

[0095] The first mapping determination module 420 is configured to obtain the first node coordinates and second node coordinates of the target robot based on the link coordinate system and actual structural parameters, and to establish geometric constraint equations by combining the rigid link constraint relationship with the first node coordinates and the second node coordinates to determine the first mapping relationship between the target node coordinates and the first node coordinates, and the second mapping relationship between the target node coordinates and the second node coordinates; wherein, the first node is the front end of the foot, the second node is the first end point of the knee joint link, connecting the upper link and the lower link, and the target node is the second end point of the knee joint link that is away from the first end point;

[0096] The first angle determination module 430 is configured to jointly solve the first mapping relationship and the second mapping relationship to determine the target node coordinates, and determine the motion angle of the knee joint link based on the second node coordinates and the target node coordinates, and determine the motion angle as the motor angle.

[0097] In some embodiments, the first mapping determination module 420 is specifically configured as follows:

[0098] The coordinates of the second node of the target robot are determined based on the origin of the link coordinate system and the actual structural parameters.

[0099] The coordinates of the first node are obtained by transforming the coordinates of the second node using a rotation matrix.

[0100] In some embodiments, the first angle determining module 430 is specifically configured as follows:

[0101] A quadratic equation in one variable is constructed based on the first and second mapping relationships, and the larger solution among the two solutions of the quadratic equation in one variable is used to determine the coordinate parameters of the target node.

[0102] In some embodiments, the first angle determining module 430 is specifically configured as follows:

[0103] The first motion angle of the left knee joint link is determined based on the second node coordinates and the target node coordinates of the target robot's left knee, and the first motion angle is determined as the first motor angle.

[0104] The second motion angle of the right knee joint link is determined based on the second node coordinates of the target robot's right knee and the target node coordinates, and the second motion angle is determined as the second motor angle.

[0105] In some embodiments, please refer to Figure 5 , Figure 5 A schematic diagram of the structure of a robot's double-layer parallel linkage leg kinematics calculation system provided in this embodiment of the invention. Figure 2 This invention provides a robot dual-layer parallel link leg kinematics calculation system 500, comprising: a second parameter processing module 510, a second mapping determination module 520, and a second angle determination module 530; wherein,

[0106] The second parameter processing module 510 is configured to initialize the actual structural parameters of the target robot and establish a link coordinate system; the actual structural parameters include the longitudinal length, transverse length, foot width, foot pitch angle and roll angle of the lower link;

[0107] The second mapping determination module 520 is configured to obtain the coordinates of the third node using the motor angle, establish geometric constraint equations by combining the coordinates of the third node and the link coordinate system, and determine the third mapping relationship between the motor angle and the coordinates of the fourth node; wherein, the third node is the second end point of the knee joint link, which is connected to the lower link of the target robot; the fourth node is the front end of the foot.

[0108] The second angle determination module 530 is configured to use a two-dimensional Bezier curve to perform first-order interpolation on the motor angle to determine the ankle angle corresponding to different motor angles; the ankle angle is related to the coordinates of the fourth node.

[0109] In some embodiments, the second mapping determination module 520 is specifically configured as follows:

[0110] The third mapping relationship between the motor angle and the coordinates of the fourth node is determined by solving the geometric constraint equations through numerical iteration.

[0111] In some embodiments, the second angle determining module 530 is configured as follows:

[0112] The motor angle is interpolated using a two-dimensional Bezier curve to obtain the angle grid corresponding to the motor angle;

[0113] The ankle angle corresponding to the motor angle is determined based on the nearest values ​​of the motor angle in the angle grid.

[0114] It should be noted that the robot double-layer parallel link leg kinematics calculation system provided in this application embodiment and the robot double-layer parallel link leg kinematics calculation method provided in this application embodiment are based on the same application concept. Therefore, the specific implementation of this embodiment can refer to the implementation of the aforementioned robot double-layer parallel link leg kinematics calculation method, and the repeated parts will not be described again.

[0115] In some embodiments, please refer to Figure 6 , Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device 600 provided in this application includes a processor 610 and a memory 620; the memory 620 stores a computer program, wherein the computer program, when executed by the processor, implements the aforementioned method for calculating the kinematics of the robot's double-layer parallel linkage legs.

[0116] Specifically, processor 610 may include, for example, a general-purpose microprocessor, an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. Processor 610 may also include onboard memory for caching purposes. Processor 610 may be a single processing unit or multiple processing units for performing different actions of the method flow according to embodiments of this application.

[0117] Memory 620 may be any medium capable of containing, storing, transmitting, propagating, or transmitting instructions. For example, memory 620 may include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, instruments, or propagation media. Specific examples of memory 620 include: magnetic storage devices such as magnetic tape or hard disk drives (HDDs); optical storage devices such as optical discs (CD-ROMs); and may also be random access memory (RAM) or flash memory; and / or wired / wireless communication links.

[0118] This application also provides a non-transitory computer-readable medium storing a computer program that, when executed by a processor, implements the aforementioned method for calculating the kinematics of the robot's two-layer parallel linkage legs. This computer-readable medium may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into that device / apparatus / system. The aforementioned computer-readable medium carries one or more programs, which, when executed, implement the method according to the embodiments of this application.

[0119] According to embodiments of this application, a computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wired, optical fiber, radio frequency signals, etc., or any suitable combination thereof.

[0120] Those skilled in the art will understand that the features described in the various embodiments and / or claims of this application can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in this application. In particular, the features described in the various embodiments and / or claims of this application can be combined and / or combined in various ways without departing from the spirit and teachings of this application. All such combinations and / or combinations fall within the scope of this application. Therefore, the scope of this application should not be limited to the above embodiments, but should be defined not only by the appended claims, but also by their equivalents. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this invention should be included within the protection scope of this invention.

Claims

1. A method for calculating the kinematics of a robot's double-layer parallel linkage leg, characterized in that, include: The actual structural parameters of the target robot are initialized, and a link coordinate system is established; the actual structural parameters include the length of the longitudinal link, the length of the transverse link, the width of the foot, the pitch angle of the foot, and the roll angle of the lower link. Based on the link coordinate system and the actual structural parameters, the first node coordinates and the second node coordinates of the target robot are obtained. Geometric constraint equations are established by combining the first node coordinates and the second node coordinates using rigid link constraints to determine the first mapping relationship between the target node coordinates and the first node coordinates, and the second mapping relationship between the target node coordinates and the second node coordinates. The first node is the front end of the foot, the second node is the first end point of the knee joint link, connecting the upper link and the lower link, and the target node is the second end point of the knee joint link that is far away from the first end point. The first mapping relationship and the second mapping relationship are jointly solved to determine the coordinates of the target node, and the motion angle of the knee joint link is determined based on the second node coordinates and the target node coordinates. The motion angle is then determined as the motor angle.

2. The method for calculating the kinematics of a robot's double-layer parallel linkage leg as described in claim 1, characterized in that, The process of obtaining the first node coordinates and second node coordinates of the target robot based on the link coordinate system and the actual structural parameters includes: The coordinates of the second node of the target robot are determined based on the origin of the link coordinate system and the actual structural parameters. The coordinates of the second node are transformed using a rotation matrix to obtain the coordinates of the first node.

3. The method for calculating the kinematics of the robot's double-layer parallel linkage legs as described in claim 1, characterized in that, The step of jointly solving the first mapping relationship and the second mapping relationship to determine the target node coordinates includes: Based on the first mapping relationship and the second mapping relationship, a quadratic equation in one variable is constructed, and the larger solution among the two solutions of the quadratic equation in one variable is used to determine the coordinate parameters of the target node coordinates.

4. The method for calculating the kinematics of the robot's double-layer parallel linkage legs as described in claim 1, characterized in that, The motion angle of the knee joint link is determined based on the coordinates of the second node and the coordinates of the target node, and the motion angle is then defined as the motor angle. Based on the second node coordinates of the target robot's left knee and the target node coordinates, the first motion angle of the left knee joint link is determined, and the first motion angle is determined as the first motor angle. The second motion angle of the right knee joint link is determined based on the second node coordinates of the target robot's right knee and the target node coordinates, and the second motion angle is determined as the second motor angle.

5. A method for calculating the kinematics of a robot's double-layer parallel linkage leg, characterized in that, include: The actual structural parameters of the target robot are initialized, and a link coordinate system is established; the actual structural parameters include the length of the longitudinal link, the length of the transverse link, the width of the foot, the pitch angle of the foot, and the roll angle of the lower link. The coordinates of the third node are obtained using the motor angle. Geometric constraint equations are established by combining the coordinates of the third node and the link coordinate system to determine the third mapping relationship between the motor angle and the coordinates of the fourth node. The third node is the second end point of the knee joint link, which is connected to the lower link of the target robot. The fourth node is the front end of the foot. The motor angle is interpolated using a two-dimensional Bezier curve to determine the ankle angle corresponding to different motor angles; the ankle angle is related to the coordinates of the fourth node.

6. The method for calculating the kinematics of the robot's double-layer parallel linkage legs as described in claim 5, characterized in that, The step of obtaining the third node coordinates using the motor angle, establishing geometric constraint equations based on the third node coordinates and the link coordinate system, and determining the third mapping relationship between the motor angles and the fourth node coordinates further includes: The geometric constraint equations are solved by numerical iteration to determine the third mapping relationship between the motor angle and the coordinates of the fourth node.

7. The method for calculating the kinematics of a robot's double-layer parallel linkage leg as described in claim 5, characterized in that, The step of using a two-dimensional Bezier curve to perform first-order interpolation on the motor angle to determine the ankle angle corresponding to different motor angles includes: The motor angle is interpolated using a two-dimensional Bezier curve to obtain the angle grid corresponding to the motor angle; The ankle angle corresponding to the motor angle is determined based on the nearest values ​​of the motor angle in the angle grid.

8. A kinematics calculation system for the legs of a robot with a double-layer parallel linkage, characterized in that, include: The module comprises a first parameter processing module, a first mapping determination module, and a first angle determination module; wherein... The first parameter processing module is configured to initialize the actual structural parameters of the target robot and establish a link coordinate system; the actual structural parameters include the longitudinal length, transverse length, foot width, foot pitch angle and roll angle of the lower link; The first mapping determination module is configured to obtain the first node coordinates and the second node coordinates of the target robot based on the link coordinate system and the actual structural parameters, and to establish a geometric constraint equation by combining the first node coordinates and the second node coordinates using rigid link constraints to determine the first mapping relationship between the target node coordinates and the first node coordinates, and the second mapping relationship between the target node coordinates and the second node coordinates; wherein, the first node is the front end of the foot, the second node is the first end point of the knee joint link, connecting the upper link and the lower link, and the target node is the second end point of the knee joint link that is away from the first end point; The first angle determination module is configured to jointly solve the first mapping relationship and the second mapping relationship to determine the target node coordinates, and determine the motion angle of the knee joint link based on the second node coordinates and the target node coordinates, and determine the motion angle as the motor angle.

9. A kinematics calculation system for a robot's double-layer parallel linkage leg, characterized in that, include: The second parameter processing module, the second mapping determination module, and the second angle determination module; wherein... The second parameter processing module is configured to initialize the actual structural parameters of the target robot and establish a link coordinate system; the actual structural parameters include the longitudinal length, transverse length, foot width, foot pitch angle, and roll angle of the lower link. The second mapping determination module is configured to obtain the coordinates of the third node using the motor angle, establish a geometric constraint equation by combining the coordinates of the third node and the link coordinate system, and determine the third mapping relationship between the motor angle and the coordinates of the fourth node; wherein, the third node is the second end point of the knee joint link, which is connected to the lower link of the target robot; the fourth node is the front end of the foot. The second angle determination module is configured to use a two-dimensional Bezier curve to perform first-order interpolation on the motor angle to determine the ankle angle corresponding to different motor angles; the ankle angle is related to the coordinates of the fourth node.

10. An electronic device comprising a processor and a memory; the memory having storage for computer programs, wherein, When executed by the processor, the computer program implements the method for calculating the kinematics of the robot's double-layer parallel link legs as described in any one of claims 1 to 4 or 5 to 7.

Images