Inverse kinematics solving method for any three joints

Abstract

The invention discloses an inverse kinematics solving method for any three joints, and belongs to the field of robot inverse kinematics. On the basis of an exponential product model, a simple geometric constraint equation, the basic property of a screw theory and the Rodrigues expression of a rotation matrix are used for converting questions into a linear equation which relates to a trigonometricfunction to be solved, the inverse solution of any three joint axes is realized, the solving of a robot inverse solution is not limited to a constraint relationship of intersection, parallelism and verticality, a structure can be designed according to requirements, and errors in installation or processing do not affect a final calculation result. The method disclosed by the invention is a flexible, convenient and practical robot inverse solution method, and convenience is provided for the practical application of the robot.

Description

technical field [0001] The invention belongs to the field of robot inverse kinematics, and in particular relates to a method for solving the inverse kinematics of any three joints. Background technique [0002] In the robot exponential product model, the core problem of its inverse solution is to solve the third-order sub-problem, because the general high-dimensional robot cannot directly obtain its inverse solution, and the elimination method is often used to simplify it to a problem below the third order to solve , and the current third-order sub-problems are solved by further simplification to obtain second-order sub-problems and first-order sub-problems. There are few methods to solve them directly. A closed solution cannot be obtained. The second-order sub-problems currently used are solved by using special geometric relations: parallel, intersecting, vertical and other constraints, but these geometric relations are difficult to guarantee in practice, and these methods...

AI Technical Summary

Problems solved by technology

[0002] In the robot exponential product model, the core problem of its inverse solution is to solve the third-order sub-problem, because the general high-dimensional robot cannot directly obtain its inverse solution, and the elimination method is often used to simplify it to a problem below the third order to solve , and the current third-order sub-problems are solved by further simplification to obtain second-order sub-problems and first-order sub-problems. There are few methods to solve them directly. no closed solution

At present, the second-order sub-problems are solved by using special geometric relations: parallel, intersecting, vertical and other constraints, but these geometric relations are difficult to guarantee in practice, and these methods also limit the design of the mechanical structure of the robot.

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