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An Inverse Kinematics Method for Solving Second-Order Subproblems with Arbitrary Relation

A technology of inverse kinematics and sub-problems, applied in the field of inverse kinematics solving of second-order sub-problems, can solve problems such as geometric relations that are difficult to guarantee, and achieve the effects of simple and easy-to-understand expression, wide application range, and high computational efficiency

Active Publication Date: 2018-03-20
SHANDONG UNIV OF SCI & TECH
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Problems solved by technology

In practice, it is difficult to guarantee many geometric relationships in processing and assembly, such as: intersection and parallel, and different structures need to choose different formulas, which brings a lot of inconvenience to practical applications

Method used

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  • An Inverse Kinematics Method for Solving Second-Order Subproblems with Arbitrary Relation
  • An Inverse Kinematics Method for Solving Second-Order Subproblems with Arbitrary Relation
  • An Inverse Kinematics Method for Solving Second-Order Subproblems with Arbitrary Relation

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Embodiment Construction

[0027] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0028] A second-order sub-problem inverse kinematics solution method for any relation, comprising the following steps:

[0029] Step 1: Find θ 1

[0030] Such as figure 1 As shown, the second-order subproblem RR can be expressed as

[0031]

[0032] in, and is the homogeneous coordinate representation of spatial points p and q, and point is the initial point, around the axis ω 2 turn theta 2 To point c, point c around ω 1 Rotate theta 1 to point q, is the motion screw, by the unit direction vector of the joint axis and any point on the axis constitute, is the exponential expression of rigid body transformation, and its expression for rotating joints is:

[0033]

[0034] Among them, I 3×3 is a 3×3 identity matrix, is the rotation matrix, which can be expressed by Rodrigues as:

[0035]

[0036] in, is the unit...

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Abstract

The invention discloses a second-order subproblem inverse kinematics solution method for any relation, which belongs to the field of robot inverse kinematics. The invention relates to an inverse solution method for the second-order subproblem RR. The basic properties of the screw theory and the Rodrigues rotation matrix expression combine the geometric method with the algebraic method to give a general joint angle solution formula, which does not need to consider the relationship between the joint axes, whether it is intersecting, parallel, or different planes can be obtained directly by this method. The invention expands the solution method of the inverse solution of the robot, expands the scope of application, simplifies the solution process, and provides convenience for the actual development and application of the robot.

Description

technical field [0001] The invention belongs to the field of inverse kinematics of robots, and in particular relates to a method for solving the inverse kinematics of a second-order subproblem of an arbitrary relation. Background technique [0002] The Paden-Kanhan subproblem is widely used in robot inverse kinematics because it has geometric meaning and numerical stability, and can flexibly provide closed solutions for a variety of robots. Paden-Kanhan subproblems are mainly divided into three categories: first-order subproblems, second-order subproblems, and third-order subproblems. Among them, the first-order sub-problem is the inverse solution problem for the rotation R or translation T motion of a single joint; the second-order sub-problem is the inverse solution problem for two joints, including 3 cases: RR, TT, RT / TR, where RR It is divided into different types such as intersecting, parallel, and perpendicular to different planes; the third-order sub-problem is the i...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F19/00
CPCG16Z99/00
Inventor 王海霞卢晓李玉霞樊炳辉朱延正江浩
Owner SHANDONG UNIV OF SCI & TECH
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