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A method for inverse kinematics solution of 6-DOF manipulator

A technology of inverse kinematics and manipulators, which is applied in the field of hybrid inverse kinematics solutions for multi-degree-of-freedom manipulators, can solve the problems of slow speed and low precision of inverse solutions, and improve the search speed, search success rate, and calculation amount The effect of small size and simple solution method

Active Publication Date: 2019-02-15
GUILIN UNIV OF ELECTRONIC TECH
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Problems solved by technology

[0006] The purpose of the present invention is to provide a method for solving the inverse kinematics of a 6-degree-of-freedom manipulator, thereby solving the shortcomings of the existing kinematics inverse solution, such as slow speed and low precision

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  • A method for inverse kinematics solution of 6-DOF manipulator
  • A method for inverse kinematics solution of 6-DOF manipulator
  • A method for inverse kinematics solution of 6-DOF manipulator

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Embodiment Construction

[0057] The technical solutions in the present invention are clearly and completely described below in combination with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0058] In the embodiment of the present invention, a UR5 robot (6-DOF robotic arm) is taken as an example to describe in detail the method for solving the inverse kinematics of the 6-DOF robotic arm of the present invention.

[0059] The 6-DOF manipulator requires the attitude O E Arrive at position P E . in, to reach the position, is the x, y, z coordinates of the target position at the end of the manipulator; attitude O E is the rotation amount of the mechanical arm,...

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Abstract

The invention discloses a 6-DOF manipulator inverse kinematics solution method in the field of industrial robots. The method firstly uses Monte Carlo method to assign a certain number of random samples to the joint space of the manipulator, and then calculates the end position of each sample, and selects the sample satisfying the target position condition as a part of the initial population of thegenetic algorithm; The other part of the initial population of the genetic algorithm is composed of random individuals, and then the inverse kinematics of the manipulator is solved by genetic algorithm. On the one hand, the invention optimizes the initial population of the genetic algorithm through the Monte Carlo method, thereby effectively improving the searching speed and the searching successrate of the genetic algorithm; On the other hand, the diversity of genetic population is ensured by the addition of random individuals, and the global searching ability of genetic algorithm is improved.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a method for solving the inverse kinematics of a multi-degree-of-freedom mechanical arm based on a combination of a Monte Carlo method and a genetic algorithm. Background technique [0002] The inverse kinematics solution of the manipulator is the basis of the application of industrial robots and the prerequisite for the control of the manipulator, which is directly related to tasks such as off-line programming, trajectory planning, and real-time control of the robot. The kinematics inverse solution plays an important role in robotics. Only by converting the space pose into joint variables can the programming control of the robot end effector according to the space pose be realized. [0003] The inverse kinematics solution of serial manipulators is relatively difficult, and scholars from various countries have conducted a lot of exploration and research. The methods for solving ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
CPCG06F30/17
Inventor 张明李春泉尚玉玲党选举黄红艳李彩林
Owner GUILIN UNIV OF ELECTRONIC TECH
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