A method for solving inverse kinematics of a 6-DOF manipulator

A technology of inverse kinematics and manipulators, which is applied in the field of inverse kinematics solution of multi-degree-of-freedom manipulators, can solve problems such as low precision and slow inverse solution speed, achieves small computational complexity, improves search speed and search speed. The effect of success rate and small error

Active Publication Date: 2022-06-24
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 solving inverse kinematics of a 6-DOF manipulator
  • A method for solving inverse kinematics of a 6-DOF manipulator
  • A method for solving inverse kinematics of a 6-DOF manipulator

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Embodiment Construction

[0057] The technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

[0058] The embodiments of the present invention describe in detail the inverse kinematics solution method of the 6-DOF manipulator of the present invention by taking the UR5 robot (6-DOF manipulator) as an example.

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

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Abstract

The invention discloses a method for solving the inverse kinematics of a 6-degree-of-freedom manipulator, which relates to the field of industrial robots. The method first uses the Monte Carlo method to assign a certain number of random samples to the joint space of the manipulator, and calculates the corresponding For the position of the end of the manipulator, the samples that meet the target position conditions are selected as part of the initial population of the genetic algorithm; the other part of the initial population of the genetic algorithm is composed of random individuals, and then the kinematic inverse solution of the manipulator is solved by the genetic algorithm. On the one hand, the present invention optimizes the initial population of the genetic algorithm through the Monte Carlo method, effectively improving the search speed and search success rate of the genetic algorithm; search capability.

Description

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

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F30/17
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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