Multi-Axis Robot Kinematics With Axis-Invariant Modeling
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current methods for modeling and controlling multi-axis robots face complexity and inefficiency, particularly in handling kinematics and mechanical calculations, leading to stability issues and increased computational complexity, with existing frameworks lacking comprehensive solutions for forward and inverse kinematics and mechanical equations.
Innovation Solution
A method using pictorial symbols and languages to describe multi-axis robots, enabling the conversion of joints into equivalent translational and rotational axes, and employing Axis-Invariants for efficient calculation of kinematics and dynamics, allowing for the development of complete robot models and control systems that can be implemented in various forms, including programmable pseudocode for real-time motor control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional modeling methods are used for multi-axis robots, then the robot can be controlled, but the computational complexity increases substantially and the system becomes difficult to solve
Solution Approach 1:
The patent transforms the traditional robot modeling parameters from joint-space coordinates to axis-invariant parameters. This parameter transformation simplifies the kinematic and dynamic equations by eliminating redundant computational variables, thereby reducing computational complexity while maintaining control stability.
Solution Approach 2:
The patent extracts and separates the invariant axial parameters from the variable joint parameters. By identifying and isolating the core invariant properties of the robot's axis system, the method simplifies the overall modeling complexity and makes the control system more manageable.
2Adaptability or versatility
If the number of axes and degrees of freedom are increased, then the robot's functionality is improved, but the modeling and control methods become complex and unsolvable
Solution Approach 1:
The patent develops a universal axis-invariant parameter system that can handle robots with any number of axes and degrees of freedom. This unified parameterization approach allows the same mathematical framework to be applied across different robot configurations, making the system versatile while maintaining manageable complexity through standardized modeling procedures.
3Reliability
If traditional symbolic methods are used in modeling, then the model can be established, but many parameters are not taken into account leading to hidden bugs and stability problems
Solution Approach 1:
The patent performs preliminary identification and classification of all relevant parameters before establishing the robot model. By systematically categorizing parameters into invariant and variable components in advance, the method ensures that no critical parameters are overlooked, preventing hidden bugs and stability issues in the subsequent modeling and control processes.
Data Source
AI summary
The invention proposes an axis-invariant multi-axis system dynamics modeling and solving principle, and realizes iterative explicit dynamic modeling of multi-axis systems with tree chains, closed chains, friction and viscous joints and moving pedestals. The established model has elegant chain symbol system with pseudo-code function, which realizes complete parameterization including “topology, coordinate system, polarity, structural parameters, mass inertia, etc.”. The principle can be set to circuit, code, directly or indirectly, partially or fully executed inside a multi-axis robot system. In addition, the present invention also includes analytical verification system constructed on these principles for designing and verifying a multi-axis robot system.