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Non-spherical-wrist 6R robot inverse kinematics obtaining method

A technology of inverse kinematics and kinematic equations, applied in the field of inverse kinematics of non-spherical wrist 6R robots, can solve problems such as inability to guarantee offline solution and real-time solution, cumbersome and time-consuming derivation process of inverse kinematics solution, etc. The derivation process is convenient, satisfying real-time, and the effect of clear geometric meaning

Active Publication Date: 2020-07-28
HUNAN UNIV OF TECH
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Problems solved by technology

[0005] The present invention aims at the inverse kinematics solution derivation process in the prior art is very cumbersome and time-consuming, and cannot guarantee off-line solution and real-time solution problem; provides a kind of non-spherical wrist 6R robot inverse kinematics calculation method

Method used

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  • Non-spherical-wrist 6R robot inverse kinematics obtaining method
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Embodiment Construction

[0042] The present invention will be further described below in combination with specific embodiments.

[0043] A method for obtaining the inverse kinematics of a non-spherical wrist 6R robot:

[0044] Screw representation of n-degree-of-freedom robot kinematics

[0045] The screw theory describes the movement of a rigid body in space as a combination of rotation and translation around a certain axis. Let ω=[ω x ,ω y ,ω z ] T ∈ R 3 Indicates the direction of the rotation axis of the rigid body, and r is the position of a point on the axis, then the motion screw of the rigid body can be expressed by ξ=[ω; v], where v=r×ω, ξ can also be called the helical axis of the rigid body. The antisymmetric matrix of ω is written as:

[0046]

[0047] Taking the antisymmetric matrix as an extension, the matrix form of ξ can be written as:

[0048]

[0049] The matrix exponential form of a rigid body is:

[0050]

[0051] where e θ[ω] =I+[ω]sinθ+[ω] 2 (1-cosθ)

[0052] ...

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Abstract

The invention provides a non-spherical-wrist 6R robot inverse kinematics obtaining method. The method comprises the following steps that S1, a robot forward kinematical equation of a robot is built onthe basis of the screw theory exponential product formula; S2, a robot dissoluble conclusion is obtained through transformation of the robot forward kinematical formula; S3, robot decomposition pointselection and reconnection geometric constraint conditions are obtained; S4, a solution formula of all joint angles of the nonlinear closure equation is deduced, and a binary method is used for solution; S5, the effectiveness of the method is verified through simulation. Compared with a traditional method, the non-spherical-wrist 6R robot inverse kinematics obtaining method has the clearer geometric meaning, the deduction process is easier and more convenient, and real-time and high-precision control is achieved in the solving process.

Description

technical field [0001] The present invention relates to a kind of inverse solution method, more specifically, relate to a kind of aspherical wrist 6R robot inverse kinematics calculation method. Background technique [0002] Solving robot inverse kinematics, as the basis of off-line robot programming, trajectory planning, control algorithm design and other research topics, has always been a classic problem in robotics, and it is also a research hotspot. The essence of solving inverse kinematics is to complete the mapping from the robot’s workspace to the joint space. The inverse kinematics equations are high-dimensional and nonlinear, and the solution is complex and difficult to obtain. When the structure of the robot satisfies the PIETER criterion, that is, the last three joints are designed as spherical wrists whose axes intersect at one point, an analytical solution can be obtained. [0003] Compared with the spherical wrist 6R robot, the wrist offset type 6R robot has h...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1612
Inventor 李光肖帆章晓峰杨加超马琪杰
Owner HUNAN UNIV OF TECH
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