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Bionic robot arm motion solving and configuration control method

A technology of manipulator and motion, applied in the field of robotics, can solve the problems of increasing the workload of motion planning, not considering the structural characteristics of the humanoid manipulator, and the loss of optimization ability of the manipulator

Active Publication Date: 2018-07-03
BEIHANG UNIV
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  • Application Information

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Problems solved by technology

This method does not consider the structural characteristics of the humanoid manipulator; in addition, as mentioned above, its corresponding motion solution method has the disadvantages of increasing the workload of motion planning and making the manipulator lose its optimization ability.

Method used

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  • Bionic robot arm motion solving and configuration control method
  • Bionic robot arm motion solving and configuration control method

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Embodiment Construction

[0067] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0068] Such as image 3 As shown, the purpose of the motion solution is to find a set of joint space solutions corresponding to the motion in the operation space. The traditional generalized inverse method is solved by the generalized inverse of the Jacobian matrix from the joint space to the operation space. Since the Jacobian matrix depends on the joint arrangement of the manipulator, this method cannot guarantee the consistency of motion planning for humanoid manipulators with different joint arrangements. The motion solving method proposed by the present invention firstly maps the motion in the operation space to the human arm, and then maps back to the joint space. Because the motion has been fully determined on the human arm, the solved motion is independent of the actual joint arrangement of the humanoid manipulator, resulting in consistent motion.

[0069]...

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Abstract

The invention discloses a bionic robot arm motion solving and configuration control method; the method utilizes structure features of the robot arm of said type, solves integral motions of the robot arm on the corresponding human arm, and maps the integral motions back to joint spaces of the robot arm for execution. The motion solving method does not rely on the real joint arrangement of the bionic robot arm, can form consistent motions for the bionic robot arms with different joint arrangements yet same arm lengths of big arms and forearms; the method can keep a motion optimization capability, can simulate human in a task processing mode, thus better forming human-like motions. The configuration control method is proposed according to theories in the motion solving method, can control thecomplete configuration of the bionic robot arm, thus ensuring the consistency of the bionic robot arm from motion planning to motion control.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a motion solution and configuration control method of a humanoid mechanical arm. Background technique [0002] Humanoid robotic arm is a special type of robotic arm, which is designed to imitate the structure of the human arm. It has the structure of S-R-S (ball pair-rotary pair-ball pair), usually composed of 7 rotating joints, such as figure 1 with figure 2 shown. In the figure, S represents the center of the shoulder joint, corresponding to the intersection point of the three mechanical joint axes at the shoulder joint; E represents the center of the elbow joint; W represents the center of the wrist joint, corresponding to the intersection point of the three mechanical joint axes at the wrist joint; z i (i=1,...,7) indicates the axis directions of the 7 manipulator joints; l 1 and l 2 are the arm lengths of the upper arm and forearm, respectively; {S} and {W} are the coo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/408
CPCG05B19/4086G05B2219/35356
Inventor 丁希仑徐鸿程王业聪
Owner BEIHANG UNIV
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