Axis-invariant based multi-axis robot system inverse kinematics modeling and solving methods
OwnerHehua Juinventor
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Abstract
The present invention proposes an inverse kinematics modeling and solving principle for multi-axis systems based on axis invariant, including: the D-H and D-H parameter determination principle based on fixed axis invarian, “Ju-Gibbs” quaternion and class direction cosine matrix principle, the inverse solution principle of general 6R and 7R robotic arms based on axial invariant. These principles are versatile, convenient, and precise. They can be set up as circuits, code, directly or indirectly, partially or completely within a multi-axis robot system. In addition, the present invention also includes analysis verification system constructed on these principles for designing and verifying multi-axis robot systems.
Claims13
An axis-invariant based multi-axis robot inverse kinematics modeling and solving method for controlling a multi-axis robot device wherein a multi-axis robot system for the multi-axis robot device comprises link sequence and joint sequence;
- the modeling and solving method includes:
- converting the joint sequence in an axis-chain axiom into an axis sequence and a parent axis sequence where the axis in the axis sequence are translational axis or rotational axis;
- expressing the restraint axis in the closed-chain as non tree are sequence;
- achieving isomorphic structures of the multi-axis robot system and a variable topology structure;
- using the axis sequence to describe the multi-axis robot system;
- using an axis invariant corresponding to the axis in a set of axes of the robot device to calculate the control parameters of the multi-axis robot system wherein for two links on an axis, the axis invariant of this axis does not change with motion of the corresponding joint for the two links;
- constructing an isomorphic system that maps with the axis one by one through a topological axis element and a metric involute axis invariable element, and using the calculated control parameters to control the multi-axis robot system.
Dependencies are inferred from the claim text.