Inverse kinematics analysis method, device and equipment for mechanical arm

Abstract

The invention belongs to the field of robots, and provides an inverse kinematics analysis method, device and equipment for a mechanical arm. The method comprises the steps that the translation position of an N-1th joint is determined according to the tail end position of a mechanical arm and the N-th joint, with the rotational freedom degree, in the mechanical arm; rotation angles from the first joint to the N-3th joint are determined according to the translation position of the N-1th joint and a homogeneous equation of the N-1th joint relative to the world coordinate system; according to thepointing direction of the tail end of the mechanical arm and the rotation angles from the first joint to the N-3th joint, the rotation angles of the N-2th joint and the N-3th joint are determined in combination with a homogeneous transformation equation from the N-3th joint to the N-th joint; and the rotation angle of the N-th joint is determined according to the tail end posture of the mechanicalarm. Therefore, inverse kinematics analysis of the mechanical arm can be rapidly carried out by adopting a low-dimensional equation set, the analysis efficiency is improved, and a plurality of solutions meeting requirements can be obtained at the same time.

Description

technical field [0001] The present application belongs to the field of robots, and in particular relates to an analysis method, device and equipment for inverse kinematics of a mechanical arm. Background technique [0002] In the process of the robot's motion control of the mechanical arm to realize specific functions, it is necessary to repeatedly perform kinematics solutions, including forward kinematics solutions and inverse kinematics solutions. Among them, the forward kinematics solution refers to calculating the terminal pose through the joint angle, and the inverse kinematics solution refers to deducing the joint angle through the terminal pose. Inverse kinematics is more important in robot manipulation control. For example, when a robotic arm operates an object, it needs to move the end of the robotic arm to the position of the object. Through inverse kinematics, it can be solved to obtain the corresponding joint angle when the end of the robotic arm is at the posit...

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Problems solved by technology

[0004] In view of this, the embodiment of the present application provides a method, device and equipment for inverse kinematics analysis of a manipulator to solve the problem of iteratively solving multiple sets of nonlinear equations when performing inverse kinematics analysis in the prior art. , the calculation is more complicated, the calculation time is long, the analysis efficiency is low, and all feasible solutions cannot be obtained at the same time

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