33 results about "Joint coordinate system" patented technology

The invention provides a distance identification-based crane tube kinematics calibration method, system and equipment and a medium, and belongs to the technical field of crane tube positioning, a crane tube joint coordinate system and a mechanical arm kinematics model are constructed, differential motion error components generated by each joint coordinate system are transmitted and synthesized step by step, and a mechanical arm kinematics calibration model is constructed. Obtaining a mapping relation between the space error and the kinematics parameter error and the pose deviation of each joint; the loading arm is driven to execute multi-attitude composite motion; target features at different distances and inclination angles are extracted and positioned; establishing a mapping relation between image pixel coordinates and three-dimensional space coordinates, and calculating the depth and coordinates of the target point in the three-dimensional space; and fusing the tail end pose error model and a target actual measurement space coordinate to realize nonlinear optimization and stable convergence of parameter correction. The motion deviation of the end effector is effectively compensated, and the positioning precision is improved. According to the method, calculation of a coordinate system transformation matrix is bypassed, and calibration complexity is reduced.

The invention provides a control method of an unequal-arm independent vacuum manipulator, which comprises the following steps: S1, the vacuum manipulator sets a corresponding control mode according to an instruction sent by an upper computer and in combination with a taught station position, and the control mode comprises single-taking single-placing, multi-taking multi-placing and cross-taking-placing; s2, according to the selected control mode and the station position, planning to obtain a motion track; s3, through a forward or backward kinematics algorithm, a manipulator joint coordinate system and a motor coordinate system are converted, and position point decoupling is carried out on the motion trail; and S4, the vacuum manipulator transmits the wafer according to the decoupled position point and the motion trail. In the wafer transmission process, the vacuum manipulator supports multiple transmission modes including single-mechanical-arm-assembly wafer taking and placing, double-mechanical-arm-assembly simultaneous wafer taking and placing and double-mechanical-arm-assembly cross wafer taking and placing, and the wafer transmission efficiency of the manipulator is improved to the maximum extent.

The invention relates to a virtual hand grasping perception and exoskeleton force feedback mapping method based on virtual-real interaction, and belongs to the technical field of virtual reality, the method comprises the following steps: building a hand exoskeleton, and reading joint data in real time; calculating the pose of each joint coordinate system of the virtual hand relative to the virtual world; according to the calculated poses of all the joints of the virtual hand, the virtual hand is driven to synchronously move with the hand exoskeleton in real time; collision and contact events of the virtual hand and the digital object are monitored in real time, and virtual interaction force generated when the virtual hand interacts with the digital object is calculated; calculating feedback torque required to be output by each hand exoskeleton motor of the hand exoskeleton, and driving the motors to output corresponding feedback force through a motor controller of the hand exoskeleton, so as to realize force feedback of the hand. According to the method, the interaction reality sense in the virtual reality application can be enhanced, the user can interact with the virtual environment more naturally in an immersive mode, and the user experience is improved.

A system for acquiring, standardizing and evaluating biomechanical kinematics data of a joint includes a device for acquiring biomechanical kinematics of the joint and processing it in a computer-readable manner. A display device displays visual output to a user. A control unit processes the kinematics and determines a progression of kinematics parameters of the joint with respect to a first joint element with a first joint coordinate system and with respect to a second joint element with a second joint coordinate system. A standardization unit determines, via a predetermined target optimization, a transformation for adjusting an orientation and / or position of the first and / or second joint coordinate system to carry out a standardization, and output an evaluation via the display device. A method is used to acquire, standardize and evaluate biomechanical kinematics data of a joint, and can be executed by a computer with a computer-readable storage medium.

The invention provides a robot action redirection method, a storage medium, electronic equipment and a product, and relates to the field of robot control. The method comprises the steps that motion data of a to-be-simulated object and pre-configured joint offset parameters are obtained, wherein the joint offset parameters are used for describing rotation transformation data from a joint coordinate system of the to-be-simulated object to a joint coordinate system of a robot; based on the joint offset parameters, joint offset mapping from the to-be-simulated object to the robot is established; and based on the joint offset mapping, converting the motion data of the to-be-simulated object into motion data of the robot so as to drive the robot to execute corresponding actions. According to the method, the difference between the to-be-simulated object and the robot in joint coordinate system rotation transformation can be effectively eliminated, the physical feasibility and motion naturalness of robot actions are ensured, and the interaction requirements in a complex interaction scene are met.

The invention provides a general redundant parallel robot positive solution method, and relates to the technical field of industrial redundant parallel robot control. The method comprises the following steps: establishing a branch chain coordinate system of the redundant parallel robot, wherein the branch chain coordinate system comprises a static platform coordinate system, a movable platform coordinate system and a joint coordinate system; according to a DH method and dual quaternion, a kinematics model of the redundant parallel robot to be solved is established, and the kinematics model comprises a closed chain structure kinematics sub-model and an open chain structure kinematics sub-model; performing elimination processing on the kinematic model to obtain a corresponding constraint equation set; and substituting the structure parameters corresponding to the kinematic model into the corresponding constraint equation set, and determining a target pose according to a Gauss-Newton iteration method. According to the invention, two problems in the prior art are solved: 1, the error problem of the composite hinge and other parts in the manufacturing and assembling process is solved; and secondly, the parallel redundant parallel robot with kinematic redundancy has the problem of multiple solutions.

The embodiment of the invention provides an equipment relative positioning method and device and electronic equipment, and relates to the technical field of engineering machinery positioning, and the method comprises the steps: obtaining a conversion relation between a preset origin coordinate system and each preset joint coordinate system; after the construction equipment reaches the working area, the working face and the tunnel slope are determined; according to the working face, posture constraint and position constraint are conducted on the mechanical arm so that the mechanical arm can be in a target posture and a target position, and real-time clinometer data and a real-time mechanical arm joint value are obtained; according to the multiple conversion relations, the tunnel gradient, the clinometer data and the mechanical arm joint value, an optimization model is established; and obtaining an initial positioning relationship between the working face and the construction equipment, and inputting the initial positioning relationship into the optimization model to obtain a positioning relationship between the working face and the construction equipment. According to the equipment relative positioning method, the optimization model is used for calculating the real-time positioning relation between the working face and the construction equipment, a total station does not need to be used, and the construction efficiency is improved.

The invention discloses an automatic mounting method and system for a cambered surface wood board based on dynamic point cloud analysis, and the method comprises the steps: building a joint coordinate system of a mechanical arm and point cloud collection equipment, and obtaining a calibration matrix through a specific motion track of the mechanical arm; carrying out initial scanning on the cambered surface substrate on which the wood board is not mounted, and carrying out single-side arc fitting by utilizing a single-side point cloud fitting algorithm to obtain an initial circle center coordinate and a radius; entering a dynamic installation cycle, collecting local point cloud data of the current installation area, and executing Z value mutation feature detection to identify the edge position of the installed part; calculating an actual installation deviation based on the edge position, and dynamically compensating a pose parameter of the wood board to be installed according to the deviation; and according to the cambered surface radius updated in real time, the installation number of the remaining wood boards is adjusted in a self-adaptive mode, and control instructions of the to-be-installed wood boards are generated in batches and sent to the mechanical arm to be installed till all laying is completed. According to the invention, the installation precision and the engineering efficiency of cambered surface packaging are obviously improved.

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.

The invention discloses a six-degree-of-freedom robot inverse kinematics solution solving and selecting method which comprises the following steps: establishing a kinematics model according to DH parameters of a six-degree-of-freedom badminton robot; calculating the origin position of a fourth joint coordinate system; calculating the angle of the first joint; calculating the angle of the second joint; calculating the angle of the third joint; calculating the angle of a fifth joint; calculating the angle sum of the fourth joint and the sixth joint; converting angles of a plurality of solutions of the inverse kinematics into intervals by integrating the solution and the condition that the inverse kinematics has a plurality of solutions; and selecting inverse kinematics by adopting a selection strategy. According to the method, the kinematics model is established based on the DH parameters, all joint angles are solved step by step, the solving process is simplified, error accumulation caused by complex operation is reduced, and the inverse solution solving precision is improved; a possible solution of the inverse kinematics is converted to a specific interval, and weighted evaluation is performed through a systematic selection mechanism, so that the limitation of a traditional method is overcome.

This invention discloses a real-time spatial path planning method, comprising the following steps: modeling the mobile chassis as a moving mass in a global coordinate system; establishing a coordinate system for the first joint; establishing a coordinate system for the second joint; establishing an end effector workspace with the origin of the second joint coordinate system as the center and the connecting rod length as the radius; obtaining a set of candidate path points from the intersection of the workspace and the linear constraint equations; mapping this set of points as the constraint space to the joint space of the end effector after obtaining the constraint intersection space; and then, combining the constraint conditions, obtaining the workspace path point set, which represents the coordinates of the end effector of the top-attacking mechanism in the global coordinate system at the next moment. The workspace and path modeling method of this invention greatly reduces the computational load when solving for path points, meeting the application requirements of real-time systems.

The embodiment of the invention provides a kinematics parameter calibration method and device of a mechanical arm, electronic equipment and a medium, and belongs to the technical field of robots. The method comprises the following steps: constructing a kinematic model of a first pose of the mechanical arm to obtain a first kinematic parameter; and constructing a real transformation matrix between the reference coordinate system and the first tail end coordinate system. And constructing a pose homogeneous matrix for the reference coordinate system, the first base coordinate system, the first joint coordinate system and the first tail end coordinate system according to the first kinematics parameters. And calculating a loss function according to the real transformation matrix and the pose homogeneous matrix, and obtaining a kinematics parameter offset value. And then a kinematics model of the second pose of the mechanical arm is constructed, and the second kinematics parameter is updated through the offset value. And a loss function is calculated again, iterative optimization is conducted continuously till the parameter offset value meets the preset condition, and finally the mechanical arm kinematics parameters are corrected through the optimized parameters. According to the embodiment of the invention, the calibration efficiency of the kinematics parameters of the mechanical arm can be improved.

The present invention provides a forward kinematics method for a general redundant parallel robot, which relates to the technical field of industrial redundant parallel robot control. The method includes: establishing a branch coordinate system for the redundant parallel robot, where the branch coordinate system includes: a static platform coordinate system, a moving platform coordinate system, and a joint coordinate system; establishing a kinematic model of the redundant parallel robot to be solved according to the DH method and dual quaternions, where the kinematic model includes: a closed-chain structure kinematic sub-model and an open-chain structure kinematic sub-model; performing an elimination process on the kinematic model to obtain a corresponding constraint equation set; substituting the structural parameters corresponding to the kinematic model into the corresponding constraint equation set and determining the target pose according to the Gauss-Newton iteration method. The present invention solves two problems existing in the prior art: one is the error problem of compound hinges and other components during the manufacturing and assembly processes; the other is the problem of multiple solutions existing in the kinematically redundant parallel redundant robot.

The invention discloses a long-term identity recognition method and system for multi-cat individuals. Face three-dimensional point cloud data, cat eye iris data and palm print data of a cat are collected and converted into the same three-dimensional joint coordinate system, and alignment of a physical space is carried out. Then, three parallel feature extraction networks are used for performing feature extraction on the aligned data, and preliminary fusion features are obtained after splicing and dimension reduction; and carrying out attention enhancement and residual connection on the preliminary fusion feature to obtain a fusion feature vector. And the fusion feature vectors of the individuals in different periods are stored in a historical feature sequence according to a time sequence, and a feature library of the multiple individuals is constructed. And through cosine similarity comparison, finding an individual most similar to the individual to be identified in the feature library as a candidate cat. And predicting the time sequence evolution characteristics of the candidate cats, judging the identity of the to-be-identified individual according to the similarity among the time sequence evolution characteristics, the historical characteristics and the to-be-identified individual, and performing rolling updating on the characteristic library.

The invention provides a robot FKM kinematics modeling method, and aims to solve the problems of rotation and translation coupling, non-intuitive parameter significance, complex modeling and the like in the existing robot kinematics modeling process. The method comprises the following steps: establishing a joint coordinate system of the robot, and determining a transformation parameter of each joint and a homogeneous transformation matrix of an adjacent coordinate system; wherein the expression of the homogeneous transformation matrix has two forms according to different joint types, and the expression of a rotating joint is as shown in the specification, and the expression of a moving joint is as shown in the specification. A translation transformation matrix of the coordinate system relative to the coordinate system is in the formula; the rotation transformation matrix is a rotation transformation matrix rotating around the translated X axis; the forward kinematics model of the robot can be obtained by sequentially multiplying the homogeneous transformation matrixes of all the joints for the rotating joints as a rotation transformation matrix rotating around the rotated Z axis and for the moving joints as a translation matrix moving along the rotated Z axis. According to the method, basic transformation and joint variables of the coordinate system are decoupled, so that the modeling process is more visual, the parameter significance is clearer, and the method can be widely applied to the field of kinematics modeling and control of industrial robots and service robots.

The application relates to the technical field of semiconductor manufacturing, and discloses a control method, system and device of a vacuum manipulator and a storage medium. The control method of the vacuum manipulator comprises the following steps: establishing a kinematics model between a motor coordinate system and a joint coordinate system of each manipulator; after receiving a motion instruction, planning an initial motion path from a starting point to an initial target point for each manipulator indicated by the motion instruction; generating a control instruction of a motor corresponding to each manipulator based on the kinematics model and the initial motion path planned for each manipulator, so that each manipulator is driven to perform asynchronous motion; in the process that each manipulator moves to the initial target point according to the initial motion path, a dynamic correction operation is executed in real time, the manipulator is controlled to move from a current position on the initial motion path to a correction target position along a correction motion path, and the placement of a wafer is completed. The technical scheme of the application improves the transmission efficiency of the manipulator and also improves the transmission accuracy of the manipulator.

The invention relates to the technical field of semiconductor manufacturing, and discloses a control method, system and equipment of a vacuum manipulator and a storage medium. The control method of the vacuum manipulator comprises the following steps: establishing a kinematic model between a motor coordinate system and a joint coordinate system of each manipulator; after a motion instruction is received, planning an initial motion path from a starting point to an initial target point for each manipulator indicated by the motion instruction; based on the kinematic model and the initial motion paths planned for the manipulators, control instructions of motors corresponding to the manipulators are generated so as to drive the manipulators to do asynchronous motion; and in the process that the manipulators move to the initial target point according to the initial motion path, dynamic deviation correction operation is executed in real time, and the manipulators are controlled to move to the deviation correction target position from the current position of the initial motion path along the deviation correction motion path so as to complete wafer placement. According to the technical scheme, the transmission efficiency of the mechanical arm is improved, and meanwhile the transmission precision of the mechanical arm is improved.

The invention provides a shoulder-elbow angle inverse kinematics analytical solution solving method for an industrial mechanical arm, which comprises the following steps: establishing a mechanical arm joint coordinate system, configuring a shoulder-elbow-wrist structure according to six degrees of freedom of a robot, and respectively defining joints from the base to the tail end to the sixth joints; when the robot runs according to a preset track, uniform interpolation is carried out on track points of a fourth axis, a fifth axis and a sixth axis of the robot, and joint angles corresponding to any track point position of a fourth joint, a fifth joint and a sixth joint on the track are obtained; and an inverse kinematics equation is established according to the coordinates of the tail end of the robot and the joint angles corresponding to the fourth joint, the fifth joint and the sixth joint, and the angles corresponding to the first joint, the second joint and the third joint are calculated. Therefore, the angles corresponding to the first joint, the second joint and the third joint of the mechanical arm can be solved very quickly, the robot is prevented from colliding with other objects in the working space, and the movement continuity and stability of the mechanical arm are guaranteed.

The invention provides a human body posture estimation method, device and equipment and a computer readable storage medium. The human body posture estimation method comprises the following steps: under a standing posture, taking a rotation matrix when the standing posture of an inertial measurement unit is calibrated as a virtual transformation matrix, and combining with a calibrated posture to realize mapping from a real space to a virtual space so as to complete virtual human posture calibration; a plurality of joints of the virtual human are selected, coordinate systems are established for the joints respectively, the pelvis is set as a base coordinate system, and resolving series branches are established by taking the base coordinate system as a starting point in other joint coordinate systems; and calculating a pose matrix of each joint through homogeneous coordinate transformation to obtain a space pose result of the virtual human joints, and enabling the real human body space pose to correspond to the virtual human space pose to obtain a human body pose result.

The present invention relates to the field of surgical robot technology, and provides a method for preventing laser obstruction when positioning a patient trolley, comprising the following steps: S1: establishing a plurality of joint coordinate systems based on a plurality of joints of a surgical operating arm of the patient trolley, and determining a coordinate conversion matrix between the plurality of joint coordinate systems; S2: calculating the position of a key point in a connecting rod of the surgical operating arm in the hanging plate coordinate system based on the joint coordinate system and the coordinate conversion matrix; S3: judging whether the connecting rod obstructs a cross laser emitted vertically downward from the hanging plate based on the key point of the connecting rod. A robot kinematic algorithm is used to determine the relative position of the laser and each connecting rod in the surgical operating arm to perform laser obstruction detection, which is efficient, accurate, and highly stable, and provides two obstruction detection algorithms that can accurately detect in real time whether the laser is blocked.

The invention provides an industrial mechanical arm shoulder-elbow angle inverse kinematics analytic solution solving system which comprises a processing unit, a sensor unit and a driving unit, the sensor unit is used for determining the position of the tail end of a robot, and the processing unit is used for establishing a mechanical arm joint coordinate system and driving the robot to move according to a preset track when the robot runs according to the preset track. Performing uniform interpolation on track points of a fourth axis, a fifth axis and a sixth axis of the robot to obtain joint angles corresponding to any track point position of a fourth joint, a fifth joint and a sixth joint on the track; and an inverse kinematics equation is established according to the coordinates of the tail end of the robot and the joint angles corresponding to the fourth joint, the fifth joint and the sixth joint, and the angles corresponding to the first joint, the second joint and the third joint are calculated. Therefore, the angles corresponding to the first joint, the second joint and the third joint of the mechanical arm can be solved very quickly, the robot is prevented from colliding with other objects in the working space, and the movement continuity and stability of the mechanical arm are guaranteed.

A robotic surgical system and method including a navigation catheter including a sensor and for endoluminal navigation, a robotic arm having a laparoscopic surgical instrument and a second sensor, and a computing system including a processor and a memory, the memory storing instructions that when executed by the processor cause the processor to detect a position and orientation of the catheter as it is navigated into a luminal network towards a target, register the luminal network to a three-dimensional (3D) model of the luminal network and a pathway plan, display on a user interface a representation of a distal portion of the catheter, determine that the catheter is in proximity to the target, detect a position and orientation of the second sensor; and display on the user interface a representation of the laparoscopic surgical instrument's position and orientation relative to the position and orientation of the catheter.

The invention discloses a joint coordinate system construction method and device based on human body surface grid model reconstruction, equipment and a medium. The method comprises the steps that a human body image of a target area is collected; preprocessing the human body image to obtain a standard image block; reconstructing the standard image block based on the parameterized human body grid model to obtain a human body surface grid model; acquiring joint coordinate system key points based on the human body surface grid model, and executing automatic screening of the joint coordinate system key points; and establishing a local coordinate system by using the screened joint coordinate system key points. Therefore, by introducing a human body surface grid model reconstruction technology, a clear joint coordinate system definition is established, and the left-right symmetry and time sequence continuity of the human body are ensured.

The invention provides a method and device for solving an inverse kinematics analytic solution of a tip-type robot, and the method comprises the steps: building a mechanical arm joint coordinate system, configuring a shoulder-elbow-wrist structure according to the six degrees of freedom of the tip-type robot, and respectively defining the joints from the base to the tail end to the joints from 0 to 6; when the point type robot meets the condition that six shafts are all vertically downward, joint angles corresponding to a fourth joint, a fifth joint and a sixth joint are obtained respectively; and according to the end coordinates of the tip-type robot and the joint angles corresponding to the fourth joint, the fifth joint and the sixth joint, an inverse kinematics equation is established, and the angles corresponding to the first joint, the second joint and the third joint are calculated. Therefore, the analytic solution of the tip-type robot can be quickly solved, all joints of the tip-type robot can be conveniently controlled, and the tip-type robot can smoothly pass through singular points.

The utility model discloses a control system for a heavy-load intelligent joint type palletizing robot. The control system comprises a reading module, a positive solution calculation module, an inverse solution calculation module and an action module which are connected in sequence; wherein the reading module is used for reading the actual position of the joint of the three-axis robot palletizer; the positive solution calculation module is used for calculating the actual position of the joint of the three-axis robot palletizer under the world coordinate system based on a positive solution operation formula; the inverse solution calculation module is used for calculating the set position of the joint of the three-axis robot palletizer under the joint coordinate system based on an inverse solution operation formula; and the action module is used for controlling the action of the joint of the three-axis palletizing robot. The system provided by the utility model can be specially used for controlling the action of the three-axis palletizing robot, so that the action path of the three-axis palletizing robot is more reasonable, and the equipment efficiency is further improved.

This invention discloses a method, system, device, and medium for avoiding singularities in a robotic arm under different operational requirements. The method includes: determining the transformation matrix between the joint coordinate system and the Cartesian coordinate system based on the kinematic model of the robotic arm; marking all operational areas on the Cartesian motion trajectory of the robotic arm; identifying all singularities from all operational areas based on several motion information associated with several interpolation points in each operational area and the transformation matrix; and assigning corresponding singularity avoidance strategies to all singularities based on a singularity avoidance evaluation parameter library associated with all operational areas. This invention can accelerate the singularity detection speed by automatically adjusting the detection step size, and corrects the trajectory of all singularities within different operational areas by assigning singularity avoidance strategies to different operational areas containing singularities, thereby reducing the damage caused by the singularity of the robotic arm while better completing the task.

The invention discloses a robot inverse kinematics experiment teaching method and device, a storage medium and a program product. The method comprises the following steps that 1, the structure and parameters of a robot are analyzed; 2, drawing a robot model sketch according to the structure and parameters of the robot; step 3, setting a robot joint coordinate system according to the robot model sketch; 4, according to the robot joint coordinate system, robot DH parameters are solved; carrying out DH parameter judgment, and if the DH parameter is correct, carrying out the next step; otherwise, repeating the steps 1 to 4; 5, robot modeling is carried out according to the solved DH parameters; step 6, setting a motion path of an end effector of the robot; 7, discretely generating a motion track in the Matlab; 8, according to an inverse kinematics equation, solving joint parameters corresponding to the discretized motion trail; 9, robot joint parameters are output; robot joint parameters are judged, and if the joint parameters are correct, the next step is carried out; otherwise, repeating the steps 8 to 9; 10, a robot controller is read, and joint parameters are input; step 11, controlling the robot to run on line, judging a running track, and if the running track is the same as a set track, completing the experiment; otherwise, repeating the steps 7 to 11. According to the method, the inverse kinematics solution and verification experiment of robotics can be conveniently carried out.

The invention discloses an automatic wire laying linear axis solving method, which belongs to the technical field of automatic laying and forming of prepreg tows, and comprises the following steps: step 1, reading initial path information of wire laying; step 2, reading robot information; thirdly, the fixed extension distance of the robot is set to be # imgabs0 #; 4, calculating an origin coordinate system of the joint coordinate system {5} according to the poses of the track points, wherein the origin coordinate value of the joint coordinate system {5} is as shown in the specification; 5, according to the set fixed extension distance, the origin coordinate of the first axis joint coordinate system {1} of the robot is calculated; and 6, taking the value as the final solving value of the linear axis of the track point, judging whether the final solving value is the last track point, if not, taking i = i + 1, and skipping to the step 5, and if yes, ending solving.

The invention belongs to the technical field of robot calibration, and particularly discloses a robot tail end blade coordinate system calibration method and system based on axis measurement. Comprising the steps that a robot clamps a calibration tool to move into a line laser measurement view; recording joint angles of a fifth axis and a sixth axis of the robot, and calculating a tail end coordinate system of the robot according to MDH parameters of the robot; the pose of a standard ball on the calibration tool is measured through line laser, and a calibration tool coordinate system is calculated; respectively rotating a fifth shaft and a sixth shaft of the robot, measuring the standard ball by linear laser, and establishing a joint coordinate system of the fifth shaft of the robot according to the motion trail of the standard ball; and calculating a robot tail end blade coordinate system according to the coordinate conversion relation. Calibration of the tail end workpiece of the six-axis industrial robot is converted into calibration of the tail end workpiece of the two-degree-of-freedom robot, the robot kinematic chain is greatly shortened, the precision of the tail end pose data of the robot is improved, and therefore calibration of the tail end workpiece can reach higher precision.

The invention provides a numerical solution method and device for a tip-type robot, and the method comprises the steps: building a mechanical arm joint coordinate system, configuring a shoulder-elbow-wrist structure according to the six degrees of freedom of the tip-type robot, and respectively defining the joints from the base to the tail end from the first joint to the sixth joint; when the tip type robot meets the condition that the six shafts are all vertically downward, the angles of the fourth joint, the fifth joint and the sixth joint are obtained; an inverse kinematics equation is established according to the end coordinates of the tip-type robot and the joint angles corresponding to the fourth joint, the fifth joint and the sixth joint, and the angles of the first joint, the second joint and the third joint are calculated; and taking the solution of the group of angles as a group of approximate solutions of numerical solutions of the tip-type robot, and taking the approximate solutions as initial values of the numerical solutions for iteration to obtain a plurality of numerical solutions. Therefore, all numerical solutions of the tip-type robot can be rapidly solved, all joints of the tip-type robot can be conveniently controlled, and the tip-type robot can smoothly pass through singular points.