Axis-Invariant based Multi-axis robot system forward kinematics modeling and solving method
OwnerHehua Juinventor
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Abstract
The present invention proposes a positive kinematic modeling and solving principle of a multi-axis system based on axis invariance. This principle realizes inherently compact, function multiplexing performance, concise hierarchical and full-parameter modeling and real-time solution, features with pseudo code and symbol analysis. It can be set as a circuit or code, directly or indirectly, partially or completely within the multi-axis machine system. In addition, the present invention also includes an analysis verification system constructed on these principles for designing and verifying multi-axis machine systems.
Claims13
An axis-invariant based multi-axis robot forward kinematics modeling and solving method:
- 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 robotic system based on the natural coordinate by the axis sequence;
- calculating the control parameters of the multi-axis robot device by the Axis-Invariant corresponding to the Axis-Invariant corresponding to the axis of the axis set;
- constructing the iterative kinematics equations based on axial invariants using the invariance of axial invariants;
- corresponding to the symbols of the iterative kinematics equation and the pseudo-codes;
- clearly reflecting the topological relationship and the chain-order relationship of the multi-axis robot device kinematic chain;
- using the calculated control parameters to control the multi-axis robot device.
Dependencies are inferred from the claim text.