Multi-Joint Robot Parameter Conversion Using Joint Axis Vectors
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing methods fail to convert Unified Robot Description Format (URDF) into Denavit-Hartenberg (DH) parameters without specific conditions, and they also lose mass tensor and visual information when converting from DH to URDF.
Innovation Solution
An apparatus and method that converts URDF into DH parameters using joint axis vectors, allowing for general conversions and preserving mass tensor and visual information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If DH parameter is used to describe robot, then kinematic calculations and algorithms can be utilized, but complex calculation problem arises and requires specialized knowledge to describe robots
Solution Approach 1:
The patent introduces URDF as an intermediary format that bridges the gap between simple robot description and complex DH parameter conversion. URDF serves as a universal intermediate representation that can be easily described by users while maintaining compatibility with DH parameter-based kinematic algorithms, thus resolving the contradiction between ease of description and calculation capability
Solution Approach 2:
The patent transforms the robot description from DH parameters (with complex z-axis rotation constraints) to URDF parameters (with six-degree-of-freedom joint axes), changing the parameter representation to eliminate the complexity barrier while preserving the ability to perform kinematic calculations through conversion
2Ease of operation
If URDF is used to describe robot, then ease of description is improved, but conversion to DH parameter is not possible without specific conditions
Solution Approach 1:
The patent makes the URDF-to-DH conversion process universal by removing specific condition requirements. The conversion system can handle any URDF robot description regardless of joint configuration, making the adaptability feature applicable to all robot types rather than only those satisfying special constraints
Solution Approach 2:
Instead of attempting to convert DH parameters to URDF (which loses information), the patent inverts the approach by converting from URDF to DH parameters, enabling the utilization of DH-based algorithms while maintaining the ease of URDF description
3Ease of operation
If DH parameter is converted to URDF, then ease of description is improved, but mass tensor and visual information are lost
Solution Approach 1:
The patent performs preliminary action by preserving all URDF information (mass tensor, visual information, collision information) during the conversion process. Instead of losing this information during conversion, the system maintains it as part of the URDF representation, making it available for downstream applications
Data Source
AI summary
The present disclosure relates to an apparatus and method for converting a parameter of a multi-joint robot. The apparatus for converting a parameter of a multi-joint robot according to the present disclosure includes a parameter derivation unit configured to drive a unified robot description format (URDF) of an individual joint constituting the multi-joint robot, a coordinate calculation unit configured to calculate a coordinate system of the individual joint, and calculate a joint axis vector of the individual joint and a joint axis vector of a subsequent joint connected to the individual joint based on the coordinate system of the individual joint, and a parameter conversion unit configured to convert the URDF of the individual joint into a Denavit-Hartenberg (DH) parameter based on the joint axis vector of the individual joint and the joint axis vector of the subsequent joint.