Axis-Invariant based Multi-axis robot system modeling and solving method
OwnerHehua Juinventor
Life of this patent
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Abstract
The invention proposes an axis-invariant based multi-axis system modeling and control principle. Iterative modeling, real-time solution and control of multi-axis system engineering are completely solved from different levels of system topology, forward kinematics, inverse kinematics and dynamics. Parametric modeling and control is completed including “topology, coordinate frame, polarity, structural parameters, mass and inertia, etc.”. It can be set to circuit, code, directly or indirectly, partially or fully executed inside a multi-axis robot system. In addition, the present invention also includes analytical verification system constructed on these principles for designing and verifying a multi-axis robot system.
Claims17
An axis-invariant based multi-axis robot system modeling and control method used for controlling a multi-axis robot device:
- wherein the multi-axis robot system comprises link sequence and Joint Sequence, converts the Joint Sequence in the axis-chain axiom into the axis sequence and the parent axis sequence where the axis are translational axis or rotational axis;
- representing the closed-chain constraint axis as non-tree arc sequence;
- achieving the isomorphism of the topology multi-axis robot system;
- describing the multi-axis robot system by the axis sequence;
- calculating the control parameters of the multi-axis robot device by the axis invariant corresponding to the axis of the axis set, wherein the axis invariant of the axis will not change with the corresponding joint motion for two links on an axis;
- constructing an isomorphic system that maps with the axis one by one through the topological axis element and the metric involute axis invariable element;
- and using the calculated control parameters to control the multi-axis robot device.
Dependencies are inferred from the claim text.