CN105856240B - A kind of simple joint failure manipulator model reconstructing method based on perspective geometry method - Google Patents
A kind of simple joint failure manipulator model reconstructing method based on perspective geometry method Download PDFInfo
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- CN105856240B CN105856240B CN201610413044.6A CN201610413044A CN105856240B CN 105856240 B CN105856240 B CN 105856240B CN 201610413044 A CN201610413044 A CN 201610413044A CN 105856240 B CN105856240 B CN 105856240B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/1617—Cellular, reconfigurable manipulator, e.g. cebot
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Abstract
The invention discloses a kind of simple joint failure manipulator model reconstructing methods based on perspective geometry method.Its core includes：Kinematics model based on spinor coordinate characterization mechanical arm, since different faults joint is axially distinct in base coordinate system, its fault angle influences the different parameters of each joint spinor coordinate, therefore failure joint is classified by its axial direction, for inhomogeneity joint, projection plane is constructed using public vertical plane of the sciagraphy in its axis, obtains kinematics model plane figure；According to the plane figure in each failure joint, by geometrical analysis, the relational expression of fault angle, length of connecting rod and each joint spinor coordinate is established, completes the reconstruct of simple joint failure manipulator model.After the present invention solves mechanical arm simple joint failure, the failure of original kinematics model, the problem of motion control can not be carried out, it is based on spinor theory simultaneously, compared to D H parametric techniques, have it is efficient, versatile, the characteristics of suitable for various configuration mechanical arm.
Description
Technical field
The present invention relates to a kind of simple joint failure manipulator model reconstructing methods based on perspective geometry method, belong to mechanical arm
Fault-toleranr technique field.
Background technology
Since space environment has the characteristics that ultravacuum, high temperature difference, intense radiation, space manipulator working environment is considered
Abominable and intra articular structural complexity, very likely occur knuckle failure phenomenon during its long service.
Space manipulator can not usually be repaired in time once failing, and the postponement for leading to space tasks is even delayed by this, so as to shadow
Ring the implementation to entire space program.At present, for the burst failure of single joint occurs in the in-orbit operating process of space manipulator
Situation, locking failure joint is a kind of simple and effective processing method.Due to the damage of motion model, machine after joint locking
Tool arm can not complete in-orbit operation task according to initial planning path, so as to cause the failure of task.The present invention is to be a kind of based on throwing
The simple joint failure manipulator model reconstructing method of shadow geometric method, disclosure satisfy that under mechanical arm simple joint distress condition, maximum
The demand of the in-orbit task of completion of limit, carrying out the in-orbit application of space exploration, particularly space manipulator for future has ten
Divide important theory significance and realistic meaning.
At present, less for the manipulator model reconstructing method achievement in research of simple joint failure, the achievement in research of mainstream is
The kinematics model reconstruct of SSRMS type mechanical arms based on D-H parametric techniques, solves any knuckle lock of particular configuration mechanical arm
The model reconstruction problem of timing, but the reconstruction process of its D-H coordinate system is complicated, for the method for reconstructing of each knuckle failure situation
It differs, therefore calculation amount is larger, while there is no general expression formula for the solution of various configuration mechanical arm, therefore
Versatility is low.To solve the above-mentioned problems, the present invention provides a kind of list based on perspective geometry method based on spinor theory
Knuckle failure manipulator model reconstructing method, this method have it is efficient, versatile, suitable for the excellent of various configuration mechanical arm
Point.
Invention content
The purpose of the present invention is being directed to the deficiency of above-mentioned model reconstruction method, a kind of single pass based on perspective geometry method is provided
Failure manipulator model reconstructing method is saved, solves under simple joint malfunction that manipulator motion model changes, Wu Fajin
The problem of row motion control.
The technical solution adopted in the present invention is：A kind of simple joint failure manipulator model reconstruct based on perspective geometry method
Method, step are as follows：
1) kinematics model based on spinor coordinate characterization mechanical arm, according to axial direction of the failure joint under base coordinate system
Difference, fault angle influence the different parameters of each joint spinor coordinate, failure joint are classified in an axial direction, for
Axially different failure joint constructs projection plane using public vertical plane of the sciagraphy in its axis, obtains kinematics model plane
Perspective view；
2) based on plane figure, the spinor coordinate of mechanical arm is determined using geometry analysis method, is sent out for inhomogeneity joint
The situation of raw failure, after analysis failure joint is locked in fixed angle, the transformation matrix of base coordinate system and tool coordinates system, with
And the spinor coordinate in each joint and the relationship of fault angle in reconstitution movement model, realize simple joint failure Mechanical transmission test
Model reconstruction.
Step 1) sciagraphy carries out two-dimensional projection to Mechanical transmission test model and includes the following steps：
11) the label rule under knuckle failure state is provided, as joint JfDuring locking, except joint JfOutside, the phase in remaining joint
Closing symbol increases "~", and its posterior joint label subtracts one in original basis, i.e.,And machine
Tool arm number of degrees of freedom, is degenerated for m=n-1；
12) it is axially distinct in base coordinate system for joint, influence of the fault angle to each joint spinor coordinate
Difference classifies failure joint, i.e. X-axis joint, Y-axis joint, Z axis joint；
13) kinematics model based on spinor coordinate characterization mechanical arm is, it is specified that except failure joint JfIt is locked in fault angle
In addition, remaining arthrodesis inAccording to failure joint JfAxial direction determine its kinematics model
Two-dimensional projection plane：X-axis joint corresponds to the YZ plane figures of base coordinate system, Y-axis joint corresponds to XZ plane figures, Z
Axis joint corresponds to X/Y plane perspective view, and X-Y scheme can be used for determining each joint except spinor coordinate of the failure joint shaft to direction, edge
Failure joint shaft need to be obtained to the spinor coordinate in direction by the kinematics model reconstructed.
Step 2) geometry analysis method determines that spinor coordinate includes the following steps：
If 21) failure joint is X-axis joint, after knuckle failure, the transformation relation of base coordinate system and tool coordinates system is：
Wherein, θfRepresent the angle of failure joint locking, Σ lxIt represents along the sum of length of X-direction connecting rod, Σ lyrWith
ΣlzrThe sum of length of Y-axis and Z-direction connecting rod before the joint broken down, Σ l are represented respectivelyyfWith Σ lzfTable respectively
Show the sum of length of Y-axis and Z-direction connecting rod after the joint broken down.
The spinor coordinate in the joint before fail close feast-brand mark number keeps constant, the spinor coordinate in the joint after label of original value
For：
Wherein,The unit vector on the movement spinor axis direction in Y-axis joint and Z axis joint, (x are represented respectivelyi,
yi,zi) represent the point on axis, x before failurei,yi,ziRepresent x a little respectively, y, z coordinate,Represent the movement spinor of joint i；
If 22) failure joint is Y-axis joint, after knuckle failure, the transformation relation of base coordinate system and tool coordinates system is：
Wherein, Σ lyIt represents along the sum of length of Y direction connecting rod, Σ lxrRepresent the X-axis before the joint broken down
The sum of length of direction connecting rod, Σ lxfThe sum of length of X-direction connecting rod after the joint that expression is broken down.
The spinor coordinate in the joint before fail close feast-brand mark number keeps constant, the spinor coordinate in the joint after label of original value
For：
Wherein,Represent the unit vector on the movement spinor axis direction in X-axis joint.
If 23) failure joint is Z axis joint, after knuckle failure, the transformation relation of base coordinate system and tool coordinates system is：
The spinor coordinate in the joint before fail close feast-brand mark number keeps constant, the spinor coordinate in the joint after label of original value
For：
Compared with the prior art, the present invention has the following advantages：
(1) present invention characterizes the kinematics model of mechanical arm by spinor coordinate, realizes various configuration mechanical arm list pass
The versatility that kinematics model reconstructs after section failure, and when mechanical arm configuration is complicated, degree of freedom is high, versatility is particularly bright
It is aobvious.
(2) present invention constructs projection plane using public vertical plane of the sciagraphy in failure joints axes, can effectively analyze
Joint locking is each in transformation matrix and the reconstitution movement model of base coordinate system and tool coordinates system after fault angle
The spinor coordinate in joint and the relationship of fault angle.
(3) present invention using geometric method derive spinor coordinate when all kinds of joints are broken down and failure joint angles and
Mathematic(al) representation between length of connecting rod, the basis of mechanical arm spinor coordinate and failure joint lock angle degree under known normality
On, the spinor coordinate of reconstruct can be directly obtained, the efficiency of kinematics model reconstruct is improved, disclosure satisfy that the real-time of in-orbit application
Property demand.
Description of the drawings
Fig. 1 is the method for the present invention flow chart.
Fig. 2 is spinor coordinate system under normality.
Fig. 3 is the reconstruction spinor system after joint three locks.
Fig. 4 is YZ plane figures after joint three locks.
Fig. 5 is the reconstruction spinor system after joint two locks.
Fig. 6 is XZ plane figures after joint two locks.
Fig. 7 is the reconstruction spinor system after joint one locks.
Fig. 8 is X/Y plane perspective view after joint one locks.
Specific embodiment
1st, sciagraphy carries out two-dimensional projection to simple joint failure Mechanical transmission test model
It is the method for the present invention flow chart as shown in Figure 1.The present invention is using space seven freedom mechanical arm as research object, respectively
Rod length is as shown in table 1, and the configuration of mechanical arm is as shown in Figure 2.For each joint Ji(i=1 ..., 7), constructs its fortune
Dynamic spinor, spinor coordinate are as shown in table 2.
1 length of connecting rod of table
Spinor coordinate under 2 normality of table
X-axis joint J3When being locked in 30 °, J3Joint marker later isThe spinor system of reconstruct is as shown in figure 3, YZ
Direction projection figure is as shown in Figure 4.Y-axis joint J2When being locked in 30 °, J2Joint marker later isThe spinor system of reconstruct
As shown in figure 5, XZ direction projection figures are as shown in Figure 6.Z axis joint J1When being locked in 30 °, J1Joint marker later is
The spinor system of reconstruct is as shown in fig. 7, XY direction projection figures are as shown in Figure 8.
2nd, geometry analysis method determines spinor coordinate
X-axis joint J3During locking, the spinor parameter for generating variation isWithIt is θ3Function, after reconstruct
Spinor parameter it is as shown in table 3, spinor coordinate is as shown in table 4.Base coordinate system S keeps original direction, the side of tool coordinates system T
To changing, the transformation relation of base coordinate system and tool coordinates system is：
Spinor parameter is reconstructed after 3 three joint locking of table
Spinor coordinate is reconstructed after 4 three joint locking of table
Y-axis joint J2During locking, the spinor parameter for generating variation isWithIt is θ2Function.After reconstruct
Spinor parameter it is as shown in table 5, spinor coordinate is as shown in table 6.Base coordinate system S keeps original direction, the side of tool coordinates system T
To changing, the transformation relation of base coordinate system and tool coordinates system is：
Spinor parameter is reconstructed after 5 two joint locking of table
Z axis joint J1During locking, the spinor parameter for generating variation isWithIt is θ1Function.After reconstruct
Spinor parameter it is as shown in table 7, spinor coordinate is as shown in table 8.Base coordinate system S keeps original direction, the side of tool coordinates system T
To changing, the transformation relation of base coordinate system and tool coordinates system is：
Spinor coordinate is reconstructed after 6 two joint locking of table
Spinor parameter is reconstructed after 7 one joint locking of table
Spinor coordinate is reconstructed after 8 one joint locking of table
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (1)
1. a kind of simple joint failure manipulator model reconstructing method based on perspective geometry method, it is characterised in that this method include with
Lower step：
1) kinematics model based on spinor coordinate characterization mechanical arm, according to axial direction of the failure joint under base coordinate system not
Together, fault angle influences the different parameters of each joint spinor coordinate, failure joint is classified in an axial direction, for not
Homoaxial failure joint constructs projection plane using public vertical plane of the sciagraphy in its axis, obtains kinematics model plane and throw
Shadow figure, specifically includes following steps：
11) axially distinct in base coordinate system for joint, influence of the fault angle to each joint spinor coordinate is different,
Failure joint is classified, i.e. X-axis joint, Y-axis joint, Z axis joint；
12) kinematics model based on spinor coordinate characterization mechanical arm is, it is specified that except failure joint JfIt is locked in other than fault angle,
Remaining arthrodesis in(i=1 ..., m and i ≠ f), wherein,Represent the joint angles in i-th of joint, m represents machinery
The total number of degrees of freedom, of arm, according to failure joint JfAxial direction determine the two-dimensional projection plane of its kinematics model：X-axis joint corresponds to base
The YZ plane figures of plinth coordinate system, Y-axis joint correspond to XZ plane figures, Z axis joint corresponds to X/Y plane perspective view, X-Y scheme
It, need to be by the spinor coordinate in direction along failure joint shaft available for determining each joint except spinor coordinate of the failure joint shaft to direction
The kinematics model of reconstruct obtains；
2) based on plane figure, the spinor coordinate of mechanical arm is determined using geometry analysis method, event occurs for inhomogeneity joint
The situation of barrier, after analysis failure joint is locked in fixed angle, the transformation matrix of base coordinate system and tool coordinates system, Yi Jichong
The spinor coordinate in each joint and the relationship of fault angle in structure kinematics model realize simple joint failure Mechanical transmission test model
Reconstruct, specifically includes following steps：
If 21) failure joint is X-axis joint, after knuckle failure, the variation relation of base coordinate system and tool coordinates system is：
Wherein, θfRepresent the angle of failure joint locking, Σ lxIt represents along the sum of length of X-direction connecting rod, Σ lyrWith Σ lzr
The sum of length of Y-axis and Z-direction connecting rod before the joint broken down, Σ l are represented respectivelyyfWith Σ lzfIt represents that event occurs
The sum of length of Y-axis and Z-direction connecting rod after the joint of barrier；
The original value of spinor coordinate holding in the joint before fail close feast-brand mark number is constant, and the spinor coordinate in the joint after label is：
Wherein,The unit vector on the movement spinor axis direction in Y-axis joint and Z axis joint, (x are represented respectivelyi,yi,zi)
Point before expression failure on axis, xi,yi,ziX a little, y, z coordinate are represented respectively；
If 22) failure joint is Y-axis joint, after knuckle failure, the variation relation of base coordinate system and tool coordinates system is：
Wherein, Σ lyIt represents along the sum of length of Y direction connecting rod, Σ lxrRepresent the X-direction before the joint broken down
The sum of length of connecting rod, Σ lxfThe sum of length of X-direction connecting rod after the joint that expression is broken down；
The original value of spinor coordinate holding in the joint before fail close feast-brand mark number is constant, and the spinor coordinate in the joint after label is：
Wherein,Represent the unit vector on the movement spinor axis direction in X-axis joint；
If 23) failure joint is Z axis joint, after knuckle failure, the variation of base coordinate system and tool coordinates system is：
The original value of spinor coordinate holding in the joint before fail close feast-brand mark number is constant, and the spinor coordinate in the joint after label is：
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| CN112549008B (en) * | 2020-12-11 | 2021-12-14 | 中国科学院沈阳自动化研究所 | Projection kinematics control method of large heavy-load mechanical arm |
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