Axis-Invariant based Multi-axis robot inverse kinematics modeling and solving method
OwnerHehua Juinventor
Life of this patent
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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.
Claims16
An axis-invariant based multi-axis robot inverse kinematics modeling and solving method for controlling a multi-axis robot device wherein the multi-axis robot system comprises link sequence and joint sequence;
- the modeling and solving method includes:
- converting 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;
- expressing the restraint axis in the closed-chain as non tree arc sequence;
- achieving the isomorphic structures of the variable topology structure;
- using the axis sequence to describe the multi-axis robot system;
- using the axis invariant corresponding to the axis of the axis set 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 the corresponding joint motion;
- 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 system.
The modeling and solving method according to claim 7, wherein “Ju-Gibbs” quaternion and “class direction cosine matrix” is applied to establish vector kinematic equation;
- wherein the “Ju-Gibbs” quaternion is expressed as
- [τl·τnl,]T=[lτl,]T≈ϕlT∈(−π,π),
- and the class direction cosine matrix is expressed as
- Q
- n
- i
- =
- ∏
- l
- 1
- n
- i
-
-
- (
- 1
- +
- 2
- ·
- τ
- l
- ·
- n
- ~
- l
- l
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- +
- τ
- l
- ⋮2
- ·
- N
- l
- l
- _
- )
- ,
- N
- l
- l
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- =
- 1
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- .
Dependencies are inferred from the claim text.