d-h system and d-h parameter determination method of multi-axis robot based on axis invariant

A multi-axis robot and parameter determination technology, applied in the field of robotics, can solve the problems of cumbersome D-H parameter determination process, low reliability, and low repeat accuracy of absolute positioning and attitude determination accuracy of the robot system.

Active Publication Date: 2020-01-07
居鹤华
View PDF4 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] When the robot applies D-H system modeling and D-H parameter calculation kinematics inverse solution, due to the existence of machining and assembly errors, the absolute positioning and attitude accuracy of the robot system are far lower than the repeatability of the system; at the same time, the D-H in the prior art The process of system establishment and D-H parameter determination is cumbersome. When the degree of freedom of the system is high, the reliability of manual completion of this process is low.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • d-h system and d-h parameter determination method of multi-axis robot based on axis invariant
  • d-h system and d-h parameter determination method of multi-axis robot based on axis invariant
  • d-h system and d-h parameter determination method of multi-axis robot based on axis invariant

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0047] The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solutions of the present invention more clearly, but not to limit the protection scope of the present invention.

[0048] Definition 1 Natural coordinate axis: The unit reference axis that is coaxial with the motion axis or measurement axis and has a fixed origin is the natural coordinate axis, also known as the natural reference axis.

[0049] Definition 2 natural coordinate system: such as figure 1 As shown, if the multi-axis system D is at zero position, all Cartesian body coordinate systems have the same direction, and the origin of the body coordinate system is located on the axis of the motion axis, then the coordinate system is a natural coordinate system, referred to as the natural coordinate system.

[0050] The advantages of the natural coordinate system are: (1) the coordinate system is easy to de...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

An axis invariant-based multi-axis robot D-H system and D-H parameter determination method, said method comprising: defining a one-dimensional coordinate axis as a direction reference line having a scale, an axis invariant being a parameterized natural coordinate base and being a base element of a multi-axis system, and the translation and rotation of the fixed axis invariant being equivalent to the translation and rotation of the coordinate system fixed to the fixed axis invariant; and determining a D-H system by means of the fixed axis invariant.

Description

technical field [0001] The invention relates to a multi-axis robot D-H system and a method for determining D-H parameters, belonging to the technical field of robots. Background technique [0002] When the robot applies D-H system modeling and D-H parameter calculation kinematics inverse solution, due to the existence of machining and assembly errors, the absolute positioning and attitude accuracy of the robot system are far lower than the repeatability of the system; at the same time, the D-H in the prior art The process of establishing the system and determining the D-H parameters is cumbersome. When the degree of freedom of the system is high, the reliability of manual completion of this process is low. Therefore, it is necessary to solve the problem of determining the D-H system and D-H parameters by computer. At the same time, the high-precision D-H system and D-H parameters are the basis for the robot to perform precise operations, and also the basis for the developme...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/00
CPCB25J19/0095
Inventor 居鹤华石宝钱
Owner 居鹤华
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap