Control method of six degrees of freedom serial robot based on not satisfying pieper criterion

Abstract

The invention discloses a control method based on a six-degree-of-freedom serial robot that does not satisfy the Pieper criterion, and belongs to the technical field of robot motion control methods. The motion control method of the six-degree-of-freedom serial robot in the prior art is only applicable to the six-degree-of-freedom serial robot satisfying the Pieper criterion, and the control precision of the six-degree-of-freedom serial robot not satisfying the Pieper criterion is not high, and the control process is cumbersome. The present invention proposes a new analytical control method based on the same joint coordinate system. When establishing a coordinate system for a six-degree-of-freedom serial robot, all joint coordinate systems are consistent with the coordinate directions of the robot base coordinate system, and the "calibration method" is adopted " and "conversion method" to deal with the six-degree-of-freedom series robot that does not meet the Pieper criterion. High precision.

Description

Technical field[0001]The present invention relates to the control method of a hexafa series robot based on the non-satisfaction of the PIEPER standard, which belongs to the technical field of robot motion control method.Background technique[0002]Conventional robotic sorting solutions have three species: DH parameter method, geometric method and parsing method. The DH parameter method is a wide application, it is very demanding on the establishment of joint coordinate system, and must be implemented in accordance with the specified principles, and a cumbersome matrix operation is not conducive to the real-time performance of the algorithm. Geometric law generally solves more difficult, universality, only suitable for mechanical institutions with less degree of freedom. Conventional resolution is suitable for simple structural, easy to analyze robots, but often there will be anti-sinusoidal and anti-restraints during operation, so that there will be a multi-solution when the robot is ...

AI Technical Summary

Problems solved by technology

Since the position state of the offset length has a certain degree of uncertainty, and it also has a significant impact on the pose state of the end of the robot

Therefore, we cannot use conventional analytical control methods to control the motion of this six-degree-of-freedom series robot that does not meet the Pieper criterion, resulting in cumbersome control processes for this type of robot, a large amount of calculation, and low control accuracy.

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