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Inverse kinematics calculation method of six-freedom-degree wrist-biased serial robot

A robot kinematics and kinematics inverse solution technology, applied in the field of robot kinematics inverse solution, can solve the problems of poor real-time performance and large amount of calculation, and achieve the effect of good real-time performance, small amount of calculation, and small burden

Active Publication Date: 2018-02-13
FOSHAN HUASHU ROBOTICS CO LTD +1
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  • Application Information

AI Technical Summary

Problems solved by technology

The existing algorithm for solving the inverse kinematics of a six-degree-of-freedom wrist offset robot uses geometric methods, algebraic elimination methods, and tabu search methods or hill-climbing optimization methods. The controller causes a large burden, and the real-time performance is poor

Method used

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  • Inverse kinematics calculation method of six-freedom-degree wrist-biased serial robot
  • Inverse kinematics calculation method of six-freedom-degree wrist-biased serial robot
  • Inverse kinematics calculation method of six-freedom-degree wrist-biased serial robot

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Embodiment Construction

[0043] Reference figure 1 with 2 As shown, a six-degree-of-freedom wrist offset tandem robot referred to in the present invention includes a base 1, a first joint connected to the base 2, a second joint 3 connecting a first link 4 and a base 1, The first link 4, the third joint 5 connecting the first link 4 and the second link 6, the fourth joint 7 connected to the second link 6, the fifth joint connecting the second link 6 and the wrist 8 and wrist joint 9.

[0044] Reference image 3 Shown, according to figure 1 with 2 The six-degree-of-freedom wrist-offset tandem robot draws a schematic diagram of the spatial coordinates, taking the intersection of the first joint 2 rotation axis and the second joint 3 rotation axis as the origin, the straight line where the first joint 2 rotation axis is located is the coordinate system Z axis, and the second joint 3 The line where the rotation axis is located is the Y axis of the coordinate system, and the base coordinate system is establi...

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Abstract

The invention discloses an inverse kinematics calculation method of a six-freedom-degree wrist-biased serial robot. According to the method, an analytical solution of inverse kinematics of the six-freedom-degree wrist-unbiased serial robot serves as an approximate solution and an iteration starting point of the inverse kinematics of the six-freedom-degree wrist-unbiased serial robot, an inverse kinematics value solution of the six-freedom-degree wrist-biased serial robot meeting the precision is calculated through constant iterationapproach, and the convergence rate is high. Compared with a traditional calculation method, the calculation amount is small, the computation quantity of a robot controller is decreased, and the real-timeliness is improved.

Description

Technical field [0001] The invention relates to a method for solving inverse kinematics of a robot, in particular to a method for solving inverse kinematics of a six-degree-of-freedom wrist offset tandem robot. Background technique [0002] The inverse kinematics of the robot is the premise and foundation of its trajectory planning and control. In general, a six-degree-of-freedom tandem robot needs to obtain an analytical solution, usually using an unbiased wrist, but it cannot achieve a 360-degree rotation of the middle joint, and the structural strength is low. Therefore, in the actual production process, a six-degree-of-freedom wrist offset robot is usually used instead, but limited to the current mathematical tools, the above-mentioned inverse kinematics solution usually has no analytical solution, only a numerical solution. The existing algorithms for solving the inverse kinematics of a six-degree-of-freedom wrist-biased robot use geometric methods and algebraic elimination...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1607G05B2219/39028G05B2219/39062G05B2219/39417Y10S901/02G06F17/16G06F30/00
Inventor 周星陈统书黄石峰陈思敏杨林邓旭高杨海滨王群
Owner FOSHAN HUASHU ROBOTICS CO LTD
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