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Kinematic inverse solution method and device of mechanical arm and mechanical arm

A technology of kinematics inverse solution and mechanical arm, applied in the field of robotics, can solve problems such as complex solution process

Active Publication Date: 2019-01-04
GREE ELECTRIC APPLIANCES INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The present invention provides a kinematics inverse solution method and device of a manipulator and a manipulator to at least solve the problem of complicated solution process in the prior art

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  • Kinematic inverse solution method and device of mechanical arm and mechanical arm
  • Kinematic inverse solution method and device of mechanical arm and mechanical arm
  • Kinematic inverse solution method and device of mechanical arm and mechanical arm

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Embodiment 1

[0059] In the preferred embodiment 1 of the present invention, a method for the inverse solution of the kinematics of the manipulator is provided, which can be directly applied to various industrial robots, and can also be applied to other devices with some functions of industrial robots. , can be realized by installing software, APP on industrial robots or other devices, or writing industrial robots or other device controller programs. Specifically, figure 1 An alternative flowchart showing the method, such as figure 1 As shown, the method includes the following steps S102-S106:

[0060] S102: Determine the geometric parameters of the robotic arm, wherein the robotic arm includes a plurality of rotary joints, and the rotary joints are divided into a first-type rotary joint and a second-type rotary joint;

[0061] S104: According to the geometric parameters of the manipulator, determine the first-type joint angle corresponding to the first-type rotary joint by using the geom...

Embodiment 2

[0113] Based on the inverse solution method of the kinematics of the manipulator provided in the above-mentioned embodiment 1, a device for inverse solution of the kinematics of the manipulator is also provided in the preferred embodiment 2 of the present invention, specifically, Figure 6 shows an optional structural block diagram of the device, such as Figure 6 As shown, the device includes:

[0114] The detector 602 is used to determine the geometric parameters of the mechanical arm, wherein the mechanical arm includes a plurality of rotary joints, and the rotary joints are divided into a first type of rotary joint and a second type of rotary joint;

[0115] The first processor 604 is connected to the detector 602, and is configured to determine the first type of joint angle corresponding to the first type of rotary joint by using a geometric algebra method according to the geometric parameters of the mechanical arm;

[0116] The second processor 606, connected to the fir...

Embodiment 3

[0120] Based on the kinematics inversion device of the robotic arm provided in the above-mentioned embodiment 2, a mechanical arm is also provided in preferred embodiment 3 of the present invention, including the above-mentioned kinematics inversion device of the robotic arm.

[0121] In the above-mentioned embodiment, the robot arm is divided into two parts: the front three-arm and the rear three-arm, and use the geometric algebra method and the Euler angle rotation transformation of the wrist to solve the joint angles respectively, without relying on the traditional D-H parameter modeling , which effectively solves the problems in the prior art that the solution process is complex and difficult to understand, the amount of calculation is large, and the solution efficiency is slow, and the solution process is simple and easy to understand, the amount of code is simplified, and the calculation rate is fast and the accuracy is high.

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Abstract

The invention discloses a kinematic inverse solution method and device of a mechanical arm and the mechanical arm. The kinematic inverse solution method comprises the steps that the geometric parameters of the mechanical arm are determined, wherein the mechanical arm comprises multiple rotation joints, and the rotation joints are divided into the first type of rotation joints and the second type of rotation joints; according to the geometric parameters of the mechanical arm, the first type of joint angles corresponding to the first type of rotation joints are determined by means of a geometricalgebra method; according to the first type of joint angles, the second type of joint angles corresponding to the second type of rotation joints are determined by means of the eulerian angle rotationmatrix transform method, wherein the first type of joint angles and the second type of joint angles are used for controlling operation of the mechanical arm. The kinematic inverse solution method anddevice of the mechanical arm solves the problem that the solution process is complicated in the prior art and achieves a simple solution process easy to understand, the code quantity is simplified, the calculation rate is rapid, and the precision is high.

Description

technical field [0001] The present invention relates to the technical field of robots, in particular to a kinematics inverse solution method and device of a mechanical arm, and a mechanical arm. Background technique [0002] In the process of calculating the joint angle that meets the expected requirements when the expected position and attitude of the tool coordinate system relative to the base coordinate system are known, kinematics calls this process kinematics inverse solution. Since the industrial robot belongs to the 6R type, multiple solutions and the existence of solutions will appear in the kinematics inversion problem, and the non-existence of solutions will appear when the end effector encounters a singular point. At present, industrial robots rely on the D-H parameter method, the PIEPER method of three-axis intersection and the algebraic geometric analysis method in the process of inverse kinematics solution. Such methods have the following disadvantages: the D-...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J9/06
CPCB25J9/06B25J9/1607
Inventor 刘新卫雷俊松赵航刘博刘旭魏佳欣邓绍熙
Owner GREE ELECTRIC APPLIANCES INC
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