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Inverse solution and modeling method based on shaft invariant and D-H parameters of 1R/2R/3R

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

Active Publication Date: 2019-02-01
南京安舍曼机器人研究院有限公司
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  • Application Information

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Problems solved by technology

[0002] When using the nominal D-H system and D-H parameters to calculate the kinematics inverse solution of the robot system, 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 establishment of the D-H system and the D-H parameters The determination process is cumbersome, and when the degree of freedom of the system is high, the reliability of manual completion of this process is low

Method used

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  • Inverse solution and modeling method based on shaft invariant and D-H parameters of 1R/2R/3R
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  • Inverse solution and modeling method based on shaft invariant and D-H parameters of 1R/2R/3R

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Embodiment

[0304] The following method is used to model and calculate the inverse solution of the attitude of the CE3 digital transmission mechanism:

[0305] Such as Image 6 As shown, the rotation chain of the digital transmission mechanism of the CE3 patrol is c l m =(c,d,m], the sequence of axis invariants is [ c no d , d no m ]. The unit vector of the ground data receiving station is c u S . Find its angle sequence [φ d ,φ m ].

[0306] The structural parameters expressed by axis invariants obtained through precise measurement are

[0307]

[0308] Based on the relationship between the natural coordinate system and the D-H system, F={F [l] |l∈A}, Where: F [l] is the natural coordinate system, F [l′] It is D-H series; and there are

[0309] determine the middle point And the origin O of the D-H system l′ .

[0310] make and z l′ axis-invariant with and

[0311] defined as to n l public vertical line. is the axis The unit coordinate vector...

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Abstract

The invention discloses a robot posture inverse solution and modeling as well as a resolving method based on shaft invariant and D-H parameters of 1R / 2R / 3R. The method is based on a natural coordinatesystem, and solving the problems that a 1R posture inverse solution based on the shaft invariant and a 2R and 3R posture inverse solution based on the shaft invariant and the D-H parameters, and thecorrectness of the method is verified through CE3 inspector engineering application. The method is characterized in that a succinct representation of a chain symbol system and the shaft invariable isprovided, the function of the pseudo code is achieved, a physical meaning is accurate, and the reliability of engineering implementation is ensured; based on the structural parameter of the shaft invariant, an intermediate coordinate system does not need to be established, measurement errors caused by introduction of the intermediate coordinate system are avoided, and the accuracy of posture inverse solution is guaranteed; and meanwhile, parameterization of the coordinate system, polarity and the structure parameter is realized, so that universality of engineering application is guaranteed.

Description

technical field [0001] The invention relates to a multi-axis robot posture inverse modeling and calculation method, which belongs to the field of robot technology. Background technique [0002] When using the nominal D-H system and D-H parameters to calculate the kinematics inverse solution of the robot system, 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 establishment of the D-H system and the D-H parameters The determination process is cumbersome, and 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 of the robot system by the 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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1605
Inventor 居鹤华石宝钱
Owner 南京安舍曼机器人研究院有限公司
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