6R robot inverse kinematic geometry solving method based on screw theory

Abstract

The invention discloses a 6R robot inverse kinematic geometry solving method based on a screw theory and belongs to the field of robot kinematic inverse solution research. A basal coordinate system and a tool coordinate system are established, kinematic parameters of a 6R robot are determined through the basal coordinate system and the tool coordinate system, and a forward kinematic model is established; inverse solution motion of first three joints of the 6R robot is descripted in a decomposed mode, and a six-variable quadratic equation set is established; and a target position qe1 corresponding to an initial position qs1 is solved based on a screw forward kinematic model. Through the method, geometric description is combined with the screw theory, the geometrical significance is more explicit, the algebraic equation set is solved through a simplified inverse kinematic algorithm, the calculation efficiency is effectively improved, and a new inverse kinematics processing method is provided for real-time control over robot movement.

Description

technical field [0001] The invention belongs to the research field of robot kinematics inverse solution method, in particular to a 6R robot inverse kinematics geometric solution method based on screw theory. Background technique [0002] Kinematics analysis is the basis for realizing motion control, and mainly establishes a mapping model between joint variables and terminal poses. Among them, the inverse solution problem, that is, the problem of solving joint variables with known terminal poses, is one of the research hotspots in the field of robotics, and its solution efficiency directly affects the real-time performance of robot motion control. At present, the inverse modeling of robot kinematics is mainly based on the D-H method and the screw theory. The researchers compared the two methods and found that the application of the latter has the following advantages: it can avoid the establishment of a local coordinate system, simplify the calculation model and overcome the ...

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Problems solved by technology

At present, the Paden-Kahan subproblem based on the screwer description is widely used in the reverse solution of robots, but this method is not suitable for any configuration of six-degree-of-freedom robots. Therefore, most scholars have extended based on three basic subproblems and proposed Some new sub-problem models, such as Tan improved sub-problem 2 and established a mathematical model for the sub-problem of "rotational motion around two disjoint axes"; Chen described a "rotational motion around three axes, The sub-problem in which two axes are parallel and different from the third axis” has a detailed screwor description for its inverse solution

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