Multi-shaft robot forward kinematics computing method based on shaft invariant

Abstract

The invention discloses a multi-shaft robot forward kinematics computing method based on a shaft invariant. A shaft collection is used to describe correspondingly a multi-shaft machine device. Based on a natural system of coordinates, a shaft invariant corresponding to the shaft of the shaft collection is utilized to compute control parameters of the multi-shaft machine device. The invariance property of the shaft invariant is utilized to establish an iterative kinematical equation based on the shaft invariant, symbols of the iterative kinematical equation are corresponding to pseudocodes, andthe topological relation and chain order relation of a kinematic chain of the multi-shaft machine device are reflected by the symbols of the iterative kinematical equation. An iterative forward kinematics numerical value of the kinematic chain is computed. An iterative deviatoric speed based on the shaft invariant is computed. According to the multi-shaft robot forward kinematics computing methodbased on the shaft invariant, by means of a concise kinematic chain symbol system, reliability and mechanized computation of the accomplishment of the system are guaranteed; the method is provided with an iterative based on the shaft invariant, and real-time property of the computation is guaranteed; complete parametric modelling of the coordinate system, polarity and system structure parametersis achieved; and universality of models is guaranteed.

Description

technical field [0001] The invention relates to a multi-axis robot forward kinematics calculation method, which belongs to the technical field of robots. Background technique [0002] Robotics is a very hot field right now. This is an area that has invested a lot of scientific and engineering manpower over the past few decades and has been studied for many years. However, once the number of axes and degrees of freedom increase to a certain number, according to the existing textbooks and known observation, modeling, calculation and control methods, it will often fall into complex and out-of-control problems, or even unsolvable problems. [0003] First, past practices lack the ability to generalize. For different robots, it is often necessary to re-study and establish corresponding kinematics and mechanics models. [0004] Secondly, in the process of modeling in the past, the diagrams and language used are usually imprecise and incomplete. This results in many parameters n...

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Problems solved by technology

[0006] Therefore, although there are many robot-related theories, there is still a lack of a complete and effective design framework and corresponding calculation and control methods, which can solve all aspects of modeling in the actual development process of various robots. The operation structure and rules, to forward kinematics, inverse kinematics, and related issues of mechanical calculations

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