General inverse kinematic solving method of six-freedom-degree serial robot

A technology of inverse kinematics and robotics, applied in instruments, special data processing applications, electrical digital data processing, etc., can solve problems such as complex calculation processes

Active Publication Date: 2017-09-26
SHANDONG UNIV OF SCI & TECH
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Problems solved by technology

[0002] The 6R robot is a type of robot commonly used in the industry at present, mainly because this type of robot can obtain effective inverse solutions. At present, the existing robots mainly use the H-D model to establish the kinematic model of the robot, and through the method proposed by Paul and Pieper et al. Solving the inverse kinematics of the robot, this type of method completely depends on the mechanical structure of the robot, and needs to be recalculated for different robots, the calculation process is complicated, and the expression form of each angle is also different
However, each geometric relationship has multiple expressions, which brings a lot of inconvenience to practical applications

Method used

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  • General inverse kinematic solving method of six-freedom-degree serial robot
  • General inverse kinematic solving method of six-freedom-degree serial robot
  • General inverse kinematic solving method of six-freedom-degree serial robot

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Embodiment Construction

[0069] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0070] Such as figure 1 , for a 6R robot, including waist joint axis 1, shoulder joint axis 2, elbow joint axis 3, first wrist joint axis 4, second wrist joint axis 5, and third wrist joint axis 6. The three wrist joint axes intersect at one point r 4 , Axis 1 and Axis 2 are out of plane, and Axis 2 and Axis 3 are parallel. The present invention is realized on the basis of the robot exponential product model, and the exponential product model can be expressed as:

[0071]

[0072] in,

[0073]

[0074] Among them, the subscripts t and w represent the end tool coordinate system and the world coordinate system respectively, and θ is the rotation angle vector of each joint θ=[θ 1 ,...,θ 5 ], g wt (0) and g wt (θ) respectively represent the transformation relationship of the end tool coordinate system relative to the world coordinate sy...

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Abstract

The invention discloses a general inverse kinematic solving method of a six-freedom-degree serial robot and belongs to the field of inverse kinematics of robots. The closed solving method simple in computational process and easy to achieve is proposed based on an exponential product model. The method mainly utilizes the basic property of a spinor theory, a Rodrigues rotation formula and a special geometric construction to convert a complicated inverse solution problem into a simple trigonometric functional equation for solution, so that six joint angles can be represented only by needing two expressions, and a form is simple and convenient to memorize. The method is wide in practical range, can be applied to any robot conforming to a Pieper principle and having intersected or parallel relation between two adjacent shafts in front three joints and promotes popularization and application of the robots, and the application process is simplified.

Description

technical field [0001] The invention belongs to the field of inverse kinematics of robots, and in particular relates to a general solution method for inverse kinematics of a six-degree-of-freedom serial robot. Background technique [0002] The 6R robot is a type of robot commonly used in the industry at present, mainly because this type of robot can obtain effective inverse solutions. At present, the existing robots mainly use the H-D model to establish the kinematic model of the robot, and through the method proposed by Paul and Pieper et al. To solve the inverse kinematics of the robot, this type of method completely depends on the mechanical structure of the robot, and needs to be recalculated for different robots. The calculation process is complicated, and the expression form of each angle is also different. This brings a lot of inconvenience to the secondary development of the robot. At present, in the research of robot kinematics, the exponential product kinematics m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
CPCG06F30/20
Inventor 王海霞常俊宇卢晓李玉霞樊炳辉江浩朱延正
Owner SHANDONG UNIV OF SCI & TECH
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