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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
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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.

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  • 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

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[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...

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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...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/00
CPCB25J19/0095
Inventor 居鹤华石宝钱
Owner 居鹤华
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