2 results about "Joint coordinate system" patented technology

This invention discloses a pose control method for a joint-biased seven-degree-of-freedom (DOF) robotic arm, comprising: establishing joint coordinate systems for the seven joints of the seven-DOF robotic arm; listing a parameter table based on the transformation relationships between the joint coordinate systems of the seven joints; calculating the forward kinematic transformation matrix of the seven-DOF robotic arm through the transformation relationships between any two coordinate systems of the seven joints; determining the parameters for calculating the coordinates of each reference point for the arm profile angle, and defining the arm profile surface and reference plane according to the target end-effector pose; constructing an extended Jacobian matrix based on the calculation relationship of the arm profile angle, and using a numerical method to solve for each joint angle under a given end-effector pose. The pose control method for a joint-biased seven-DOF robotic arm of this invention has advantages such as constraining the infinite number of solutions of the seven-DOF robotic arm to a finite number of solutions, solving the uncertainty of the kinematic solutions of the biased seven-DOF robotic arm, improving computational accuracy and numerical stability, and enhancing control determinism.