Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Motion optimizing method for redundant degree-of-freedom robot

An optimization method and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as poor optimization results

Inactive Publication Date: 2020-03-06
SHENYANG GENERAL ROBOT TECH
View PDF2 Cites 8 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the inverse kinematics solution of the redundant degree of freedom robot has poor optimization effect

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Motion optimizing method for redundant degree-of-freedom robot
  • Motion optimizing method for redundant degree-of-freedom robot
  • Motion optimizing method for redundant degree-of-freedom robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0156] Such as figure 1 As shown, it is a schematic diagram of the configuration of a humanoid robot. This type of robot includes 7 movable joints, joint 1 to joint 7.

[0157] Such as figure 2 Shown is the kinematics construction method of the robot. In order to simplify the calculation process, both the base coordinate system and the first joint coordinate system are translated to the second joint; the tool coordinate system is represented by the seventh joint coordinate system, and it is translated to the sixth joint.

[0158] The general solution of the inverse Jacobian kinematics problem for redundant robots is:

[0159]

[0160] in, Indicates the joint space velocity, J is the Jacobian matrix, J + is the P-M pseudo-inverse matrix of the Jacobian matrix, y is an arbitrary vector, is the Cartesian space velocity of the robot, is the minimum norm solution, and defines the end motion of the robot; I is the identity matrix, (I-J + J) y is a homogeneous solution,...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to the field of redundant robot motion control research, in particular to a motion optimizing method for a redundant degree-of-freedom robot. The motion optimizing method comprises the steps that a gradient projection method is adopted as the basis, and a joint angle limiting position index and an operability index are adopted for optimizing the gradient projection method. The technical problems that in the prior art, existing gradient projection methods are poor in redundant degree-of-freedom robot inverse kinematics solution optimizing effect, and accumulated errors canbe generated are solved. The problem that the redundant degree-of-freedom robot inverse kinematics solution optimizing effect is poor is solved. The motion optimizing method has higher practicabilityfor the redundant mechanism inverse kinematics solution method, and the robot can obtain the more ideal joint space optimizing effect, the higher position resolving precision and smaller motion tracking errors.

Description

technical field [0001] The invention relates to the research field of motion control of redundant robots, in particular to a motion optimization method of a redundant degree of freedom robot. Background technique [0002] With the continuous development of science and technology and production capacity, robots are more widely used in various fields. For example, in the production workshops of large automobile manufacturers and in the intelligent surgery centers of tertiary hospitals, the application of robots can be seen everywhere. In most cases, people need robots to be able to complete specified actions, such as the preoperative positioning of minimally invasive surgical robots. This discipline for studying how robots move is called robot kinematics. Robot kinematics can be divided into two categories: forward and inverse. Forward kinematics refers to knowing the joint space of the robot to find the end position and attitude of the robot; inverse kinematics refers to fin...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 陈鹏李洪谊刘薇薇辛亮曹建伟李朋王圆星郭洪月
Owner SHENYANG GENERAL ROBOT TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com