Gesture-adjustable coordinate decoupling robot with seven degrees of freedom and control method

Abstract

The invention provides a gesture-adjustable coordinate decoupling robot with seven degrees of freedom. The robot comprises an Z-axis vertical lifting module, an X-axis horizontal moving module, a Y-axis horizontal moving module, a gesture adjusting module and a tool moving module which are successively connected. The robot comprises degrees of freedom of Z, X, Y, alpha, belt and gamma and L straight line degree of freedom. For degrees of freedom disposition, a redundancy control method is provided, where the gesture can be adjusted in advance and the coordinates are then fully decoupled. The control method comprises the following steps: firstly adjusting three rotating gestures of a tool to a certain angle; and then controlling the other four degrees of freedom, wherein the tail end of the tool reaches a certain position, that is, on the premise of maintaining the tool in a certain unchanged angle, the tail end of the tool is easy to reach a certain coordinate position, so that gesture angle control and coordinate position control are decoupled. According to the robot provided by the invention, the redundancy f the system is increased, and the robot is convenient to operate and control, and has a wide application prospect in special application environments such as industries, medical treatment and services.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a seven-degree-of-freedom robot with adjustable posture and coordinate decoupling. Background technique [0002] With the rapid development of mechanical electronics and automatic control technology, as well as the increasing cost of labor, all walks of life urgently need to use robots to replace workers who are labor-intensive, repetitive operations, harsh working environments or require precise operations. [0003] For traditional industrial applications, there are many general-purpose six-degree-of-freedom series robots. Each joint adopts a structure of servo motors and brakes. Although this robot has 6 degrees of freedom, the brake structure has the risk of failure. Once it fails The robot will fall as a whole and smash into the objects below, so this kind of robot is rarely used in medical treatment. Moreover, several degrees of freedom of this robot are still coupled with e...

AI Technical Summary

Problems solved by technology

The floor area of ​​this invention is very large, and it is not suitable for occasions with very high requirements for space utilization

In addition, the following rotary joints in this patent rotate in the vertical plane, and the joint bearings are subjected to a large bending moment, which poses a potential safety hazard

Moreover, the structure of this patent is complex, the posture is not easy to adjust, and there is a problem of coordinate decoupling

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