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Dual quaternion solution of six degrees of freedom parallel robot forward kinetics

A dual quaternion, robot technology, applied in the direction of digital control, electrical program control, etc., can solve the problems of application requirements that are not suitable for real-time, time-consuming and other problems

Active Publication Date: 2016-07-27
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS +2
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  • Abstract
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Problems solved by technology

The only solution can also be obtained by directly using optimization algorithms such as genetic algorithm and neural network algorithm to solve kinematic equations, but genetic algorithm and neural network algorithm are time-consuming and not suitable for real-time application requirements

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  • Dual quaternion solution of six degrees of freedom parallel robot forward kinetics
  • Dual quaternion solution of six degrees of freedom parallel robot forward kinetics
  • Dual quaternion solution of six degrees of freedom parallel robot forward kinetics

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Embodiment Construction

[0033] Below in conjunction with accompanying drawing and specific embodiment, further illustrate the present invention, should be understood that these embodiments are only for illustrating the present invention and are not intended to limit the scope of the present invention, after having read the present invention, those skilled in the art will understand various aspects of the present invention Modifications in equivalent forms all fall within the scope defined by the appended claims of this application.

[0034] 1. The dual quaternion representation of the kinematics of a six-degree-of-freedom parallel robot

[0035] The six-degree-of-freedom parallel robot disclosed in the present invention is formed by connecting a motion platform (also called an end effector) to a base through several branch chains, and each component is connected through a low pair. Through the input motion of each branch chain, the motion platform can realize arbitrary rotation and translation in spa...

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Abstract

The invention discloses a dual quaternion solution of six degrees of freedom parallel robot forward kinetics. According to the method, dual quaternions are taken as generalized coordinates of a parallel robot system, a forward kinetic equation set is a quadratic algebraic equation about the dual quaternions, a high-efficiency value algorithm is brought forward for the equation set, and least square solutions of the position and attitude of such a six degrees of freedom parallel robot motion platform can be rapidly calculated. For a parallel robot not including redundancy driving, a least square solution is also an exact solution.

Description

technical field [0001] The invention belongs to the research field of kinematics, dynamics and control of robot systems, in particular a method for solving forward kinematics of a six-degree-of-freedom parallel robot, which is oriented to the application requirements of real-time control of robot systems. Background technique [0002] Parallel robots, sometimes called parallel machine tools, are a type of closed-loop motion mechanism that have many advantages over serial robots, including greater stiffness-to-mass ratio, higher fundamental frequency, and ability to withstand relatively larger loads; stronger Excellent dynamic performance and stability; and higher motion accuracy, able to complete precision-level tasks, has been gradually applied to motion simulation systems, micro-displacement positioning devices, visual tactile devices, industrial robots and medical robots, astronomical telescopes, multi-dimensional vibration isolation etc. A six-degree-of-freedom robot ca...

Claims

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Application Information

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IPC IPC(8): G05B19/19
CPCG05B19/19
Inventor 杨小龙吴洪涛李耀陈柏姚裕刘艳梨丁力康升征
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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