Motion solution and configuration control method of humanoid manipulator

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, in particular to a motion solution and configuration control method of a humanoid mechanical arm. Background technique [0002] The humanoid robotic arm is a special kind of robotic arm, which is designed to imitate the structure of the human arm, with the structure of S-R-S (ball pair-rotation pair-ball pair), usually composed of 7 rotating joints, such as figure 1 and figure 2 shown. In the figure, S represents the center of the shoulder joint, corresponding to the intersection 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 of the three mechanical joint axes at the wrist joint; z i (i=1,...,7) represents the axis direction of the seven manipulator joints; l 1 and l 2 are the arm lengths of the upper arm and forearm, respectively; {S} and {W} are the coordinate systems o...

AI Technical Summary

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.

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