Attitude control method and system for serial six-joint manipulator

An attitude control and manipulator technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of inability to meet the attitude motion trajectory, reduce the movable range of the six-joint manipulator, and achieve flexible attitude and trajectory control, forward and inverse solutions. Fast operation effect

Active Publication Date: 2021-09-28
天启控制技术(深圳)有限公司
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Problems solved by technology

This attitude control method will encounter the gimbal lock problem (Gimbal lock), and the multi-solution problem with countless expressions for the same orientation. The existence of these problems makes the six-joint manipulator using the traditional attitude control algorithm sacrifice the fourth and the partial degrees of freedom of the fifth joint reduce the movable range of the six-joint manipulator and cannot satisfy some specific posture motion trajectories

Method used

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  • Attitude control method and system for serial six-joint manipulator
  • Attitude control method and system for serial six-joint manipulator
  • Attitude control method and system for serial six-joint manipulator

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Embodiment approach

[0032] As an implementation manner, the pose matrix calculation step S1 includes:

[0033] Sub-step S11: According to the matrix calculation result, the 4x4 matrix expression of the connecting rod transformation is obtained as:

[0034]

[0035] Among them, alpha, a, and d are the parameters of the manipulator, alpha is the angle between two adjacent joint axes of the manipulator, a is the length of the common vertical line of the two adjacent joint axes of the manipulator, and d is the common vertical line along the two adjacent connecting rods. distance along the axis, alpha n is the angle between the nth joint of the manipulator and the next adjacent joint axis, a n is the length of the common vertical line between the nth joint of the manipulator and the next adjacent joint axis, d n It is the distance of the nth joint of the manipulator along the common axis direction of two adjacent connecting rods. The above parameters are all known constants, and n represents the ...

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Abstract

The embodiment of the present invention discloses a posture control method and system of a six-joint manipulator in series. The method includes: pose matrix calculation step S1: according to the read servo motor angles of each joint, use the connecting rod transformation matrix to perform a positive solution to obtain Manipulator pose matrix; actual point calculation step S2: convert the rotation matrix in the pose matrix into a quaternion to obtain the actual point P1; setting step S3: modify the actual point according to the user to obtain the target point P2; the first three-axis angle calculation step S4: Calculate the axis angles of the first three joint manipulators according to the pose matrix; the second three-axis angle calculation step S5: calculate the axis angles of the last three joint manipulators; sending step S6: send the obtained axis angles to each shaft servo motor. The invention uses the quaternion to control the attitude of the manipulator, the attitude and track control are more flexible, the forward and reverse calculation is faster, and the six-joint manipulator can reach the maximum range of motion in mechanical design.

Description

technical field [0001] The invention relates to the technical field of attitude control of manipulators, in particular to a method and system for attitude control of a series six-joint manipulator. Background technique [0002] The traditional attitude control of the manipulator is to change the Euler angle data transformed by the matrix in the forward solution algorithm of the manipulator, and input the new Euler angle data into the inverse solution of the manipulator to obtain the angles of each axis of the manipulator, so as to perform the attitude control operation of the manipulator. This attitude control method will encounter the gimbal lock problem (Gimbal lock), and the multi-solution problem with countless expressions for the same orientation. The existence of these problems makes the six-joint manipulator using the traditional attitude control algorithm sacrifice the fourth And the partial degrees of freedom of the fifth joint reduce the movable range of the six-jo...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/08B25J9/16B25J17/02
CPCB25J9/08B25J9/1602B25J9/1664B25J17/02
Inventor 徐山黎俊超吴瀚镔
Owner 天启控制技术(深圳)有限公司
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