CN104808513A - Elephant-trunk-like continuous robot kinematics calculation method - Google Patents
Elephant-trunk-like continuous robot kinematics calculation method Download PDFInfo
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- CN104808513A CN104808513A CN201510191623.6A CN201510191623A CN104808513A CN 104808513 A CN104808513 A CN 104808513A CN 201510191623 A CN201510191623 A CN 201510191623A CN 104808513 A CN104808513 A CN 104808513A
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Abstract
The invention discloses an elephant-trunk-like continuous robot kinematics calculation method. The method comprises the steps: (1) using the discrete-type joint kinematics calculation method, building the relation between the continuous joint and the discrete-type joint, and simplifying the model; (2) using the geometric analyzing and calculating method, calculating the model of the continuous joint: about the single section of the continuous joint, converting the space angle firstly, using the geometric analyzing and calculating, obtaining the rotated position of the terminal end point relative to the initial end point; secondly, according to the space transfer matrix, comparing the continuous joint and the discrete-type joint, and correcting the transfer matrix parameter using the reference coordinate as the standard. The elephant-trunk-like continuous robot kinematics calculation method is capable of correcting on the basis of the D-H parameter, simplifying the complicated motion mode, reducing the difficulty for the motion control and the whole control application, and bringing new idea for the research of the continuous joint, and is convenient for the learning of the fresh man.
Description
Technical field
The present invention relates to a kind of robot kinematics's modeling method, more particularly, it relates to the foundation of the space conversion matrix in a kind of Kinematic Model of imitative trunk continuous type robot.
Background technology
Imitative trunk continuous type robot is connected by single hop or multistage elastic body and forms, and relies on the distortion of elastic body continuous bend to produce motion, is similar to the biologic-organ such as tongue of trunk, octopus feeler and mammal.Such robot adopts performance to be similar to " without vertebra " flexible structure of muscular hydrostat, utilizes elastic deformation to make flexible body bend to smooth continuous curve and produce motion.Different from the conventional industrial robot adopting discrete single degree of freedom rotary joint or linear joint, rigid link is formed, imitate submissive the bending of trunk continuous type robot energy and change own form flexibly, what realize multi-obstacle avoidance in environment dodges the complaisant grasping with different object, can realize as the maintenance of nuclear power station cooling duct, operation under the narrow space such as earthquake field personnel search and rescue and multi obstacles environment, and traditional industrial machine has been difficult to these tasks per capita.
Sohail Iqbal, disclose in the paper " A Guaranteed Approach ForKinematic Analysis of Continuum Robot Based Catheter " that Samer Mohammed and Yacine Amirat delivered in 2009 at InternationalConference on Robotics and Biomimetic: adopt the kinematics model simplified, and in conjunction with space geometry knowledge, the kinematics of imitative trunk continuous type robot is studied, therefore, be that the simplified model of speciality is analyzed in conjunction with the foundation of the space conversion matrix of D-H parameters revision with kinematics analysis, the imitative trunk continuous type robot of research, the characteristic that meets imitative trunk continuous type robot in theory, computation requirement can be met in actual applications.
Summary of the invention
The object of the present invention is to provide a kind of imitative trunk continuous type robot kinematics method for solving of the D-H parameter based on revising, for the research of imitative trunk continuous type robot provides a kind of new approaches.
For achieving the above object, the invention provides following technical scheme:
A kind of imitative trunk continuous type robot kinematics method for solving, comprises the following steps:
(1) utilize discrete type articular kinesiology method for solving, set up the contact between continuous type joint and discrete type joint, and simplified model;
(2) utilize geometric analysis and computing method, the model in continuous type joint is solved: for the continuous type joint of single hop, be first space angle conversion, utilize geometric analysis and resolve, obtaining the position that distal point rotates relative to origin endpoint; Secondly according to space conversion matrix, continuous type joint and discrete type joint are compared, and the transition matrix parameter taking reference coordinate as standard is revised.
As the further scheme of the present invention: described with reference coordinate be the correction of the transition matrix parameter of standard comprise adding of mirror image discrete type joint angles conversion and, and the conversion of distal point current coordinate system coordinate.
As the further scheme of the present invention: the change of described distal point displacement is obtained by space geometry analysis.
Compared with prior art, the invention has the beneficial effects as follows:
1, for imitative trunk continuous type robot kinematics modeling problem, the present invention proposes a kind of imitative trunk continuous type robot kinematics method for solving based on D-H parameter, the motor pattern of complexity is simplified, simplifies, for motion control and overall control application reduce difficulty;
2, the D-H parameter of the correction of the present invention's proposition, on the Research foundation of original maturation, can bring new thinking for the research in continuous type joint, also more convenient beginner's study.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the embodiment of the present invention;
Fig. 2 is the structural representation in 2DOF continuous type joint;
Fig. 3 is the structural representation in single hop continuous type joint.
Embodiment
Below in conjunction with the embodiment of the present invention and accompanying drawing, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
The present invention is on the idea basis of conventional machines people Kinematic Model, and amendment makes it to match with the kinetic characteristic of imitative trunk continuous type robot, thus more simplify imitative trunk continuous type robot is analyzed.Imitative trunk continuous type robot is made up of n continuous type joint merely, should be precisely be made up of mixing joint, namely imitative trunk continuous type robot is made up of two rigid rotating joints, two continuous type joints, electric machine structure and continuous type joint are together in series by one of them rigid rotating joint, two continuous type joints are together in series by another rigid rotating joint, the sense of rotation in two rigid rotating joints becomes vertical direction, and this is to ensure that the mechanical arm mixing joint can reach maximum space.
Refer to Fig. 1, in the embodiment of the present invention, a kind of imitative trunk continuous type robot kinematics method for solving, the present invention is based on to single hop continuous type joint analysis, modeling, solves to obtain.The object of Kinematic Model has two: one to be the motion principle in research mixing joint deep in detail and the model required for control mechanism; Two has been the calculating of distal point P at frame of reference displacive transformation.The key completing Kinematic Model in the present invention is the correction of D-H parameter, joint A is continuous type joint, its motion feature of independent analysis is known, it has two degree of freedom, angular transition can reach three-dimensional arbitrfary point in theory, kinetic characteristic in conjunction with rigidity joint is known, and a continuous type joint can be reduced to the rigidity joint of the mirror image of two series connection.The coordinate system of Modling model is as Fig. 1, first joint A rotates around Z1 axle, then rotate around Y1 axle, the coordinate of distal point P at current coordinate system can be obtained by space geometry, bring mirror image rigidity joint into and connect the transition matrix after taking advantage of, thus obtain the transition matrix of this continuous type joint A, whole computation process is rigidity joint joint A being reduced to two mirror images, the length of connecting rod that to take elastic body as the chord length of arc be between two rigidity joints, the parameter of the moment needed is obtained according to the D-H parameter definition in rigidity joint, and by the transition matrix bringing Lian Chenghou to distal point P at the coordinate of current coordinate system into of space geometry.
Refer to Fig. 2, the embodiment of the present invention is a kind of mechanical arm mixing joint based on continuous type joint, i.e. imitative trunk mechanical arm.Imitative trunk mechanical arm is made up of rigidity joint A, continuous type joint B, rigidity joint C, continuous type joint D.The object of Kinematic Model has two: one to be the motion principle in research mixing joint deep in detail and the model required for control mechanism; One has been the calculating of distal point P at frame of reference displacive transformation.The correction that Kinematic Model key is D-H parameter is completed in the present invention, joint B and joint D are all continuous type joints, their motion of independent analysis is known, they have two degree of freedom separately, angular transition can reach three-dimensional arbitrfary point in theory, kinetic characteristic in conjunction with rigidity joint is known, and a continuous type joint can be reduced to the rigidity joint of the mirror image of two series connection.Whole like this model just can be reduced to six rigidity joints and be in series.Coordinate system such as figure, the joint A of Modling model rotate around Z1 axle, and transition matrix is exactly conventional rigid joint transition matrix, obtains the position of connecting rod end point P; First joint B rotates around Z2 axle, then rotates around Y2 axle, can obtain the coordinate of distal point P at current coordinate system by space geometry, brings mirror image rigidity joint into and connects the transition matrix after taking advantage of, thus obtain the transition matrix of this continuous type joint B; Joint C is the same with joint A, just can obtain transition matrix according to the D-H parameter that the variable such as indexing and length of connecting rod obtains; Joint D is the same with joint B, be reduced to the rigidity joint of two mirror images, be that the chord length of arc is as the length of connecting rod between two rigidity joints with elastic body, the parameter of the moment needed is obtained according to the definition of the D-H parameter in rigidity joint, and by the transition matrix bringing Lian Chenghou to distal point P at the coordinate of current coordinate system into of space geometry; Finally the transition matrix of the joint A calculated, joint B, joint C, joint D is carried out connecting the multiplied transition matrix to final whole mechanical arm.
Refer to Fig. 3, in the embodiment of the present invention, the driving in continuous type joint is the three external line type of drive adopted, three wire rope are evenly distributed on the disk of bottom base, centre is continuous type joint " backbone "---one section of flexible body, change the length of wire rope by motor thus cause flexible body distortion, reaching the object changing articular morphology.In kinematics analysis, generalized case is as goal in research using the position of distal point.By setting up the kinematics space conversion matrix in joint, thus obtaining the attitude of distal point, reaching control distal point actuator and completing specific task.
Compared with existing continuous type robot motion solution technique, the present invention has the following advantages: simplified by the motor pattern of complexity, simplify, for motion control and overall control application reduce difficulty; The D-H parameter of the correction proposed, on the Research foundation of original maturation, can bring new thinking for the research in continuous type joint, also more convenient beginner's study.
To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned one exemplary embodiment, and when not deviating from spirit of the present invention or essential characteristic, the present invention can be realized in other specific forms.Therefore, no matter from which point, all should embodiment be regarded as exemplary, and be nonrestrictive, scope of the present invention is limited by claims instead of above-mentioned explanation, and all changes be therefore intended in the implication of the equivalency by dropping on claim and scope are included in the present invention.
In addition, be to be understood that, although this instructions is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of instructions is only for clarity sake, those skilled in the art should by instructions integrally, and the technical scheme in each embodiment also through appropriately combined, can form other embodiments that it will be appreciated by those skilled in the art that.
Claims (3)
1. an imitative trunk continuous type robot kinematics method for solving, is characterized in that, comprise the following steps:
(1) utilize discrete type articular kinesiology method for solving, set up the contact between continuous type joint and discrete type joint, and simplified model;
(2) utilize geometric analysis and computing method, the model in continuous type joint is solved: for the continuous type joint of single hop, be first space angle conversion, utilize geometric analysis and resolve, obtaining the position that distal point rotates relative to origin endpoint; Secondly according to space conversion matrix, continuous type joint and discrete type joint are compared, and the transition matrix parameter taking reference coordinate as standard is revised.
2. imitative trunk continuous type robot kinematics method for solving according to claim 1, it is characterized in that, described with reference coordinate be the correction of the transition matrix parameter of standard comprise adding of mirror image discrete type joint angles conversion and, and the conversion of distal point current coordinate system coordinate.
3. imitative trunk continuous type robot kinematics method for solving according to claim 1, it is characterized in that, the change of described distal point displacement is obtained by space geometry analysis.
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| CN109325315A (en) * | 2018-11-13 | 2019-02-12 | 清华大学深圳研究生院 | A kind of statics modeling method of continuous type mechanical arm |
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Application publication date: 20150729 |