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A general solution method of inverse kinematics for a six-degree-of-freedom tandem robot

A technology of inverse kinematics and robotics, which is applied in the general solution field of inverse kinematics of six-degree-of-freedom series robots, and can solve problems such as complex calculation processes

Active Publication Date: 2020-05-05
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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  • A general solution method of inverse kinematics for a six-degree-of-freedom tandem robot
  • A general solution method of inverse kinematics for a six-degree-of-freedom tandem robot
  • A general solution method of inverse kinematics for a six-degree-of-freedom tandem 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] like 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 syste...

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Abstract

The invention discloses a general solution method for the inverse kinematics of a six-degree-of-freedom serial robot, which belongs to the field of robot inverse kinematics. The method is based on an exponential product model and proposes a closed solution with a simple calculation process and easy realization. The solution method, which mainly uses the basic properties of the screw theory, the Rodrigues rotation formula and the special geometric structure, transforms the complex inverse solution problem into a simple trigonometric function equation for solution, so that only two expressions are needed for the 6 joint angles That is to say, the form is simple and easy to remember. The invention has a wide range of applications and can be applied to any robot that satisfies the Pieper principle and has an intersecting or parallel relationship between two adjacent axes in the first three joints. The invention promotes the application of the robot and simplifies the application process.

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 Patents(China)
IPC IPC(8): G06F30/20
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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