CN105005656B - A kind of 6DOF manipulator independently captures inverse solution Engineering Algorithm - Google Patents
A kind of 6DOF manipulator independently captures inverse solution Engineering Algorithm Download PDFInfo
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Abstract
Inverted resolving Algorithm the present invention relates to a kind of 6DOF manipulator, when asking for each joint angles, first obtain waist angle of revolution, and then it is converted into plane problem, be advantageous to solution efficiency efficiency, and avoid inverse matrix and solve the complexity brought of mode, and the problems such as the mental burden of operating personnel is larger, easy to be tired, further increase crawl efficiency.In addition, target location in the present invention is obtained using binocular vision image unit or artificial judgment, so that upper computer control system determines three-dimensional coordinate of the suspicious object relative to the car body, and feed back to corresponding control instruction, being accurately positioned and capturing to target can be further realized, so as to also further increase crawl efficiency.
Description
Technical field
The invention belongs to technical field of robot control, and in particular to a kind of 6DOF manipulator independently captures inverse Xie works
Journey algorithm.
Background technology
As development in science and technology, and robot substitute artificial field to increase sharply, all kinds of robots are ground
The problem that system has turned into countries in the world and army pays close attention to jointly.Because the operative goals quality condition of robot is failed to understand, placement
Randomness of position is larger, the outer possibility occurred intentionally at any time during crawl, therefore, operation is carried out using robot, at reduction
Difficulty is managed, avoids the unexpected generation of staff, scientific and technological overall technology is horizontal and operating efficiency is significant to improving.
Existing vehicle-mounted mechanical hand-type robot includes crawler type " trolley ", " super trolley " MPR-800 in the world
Type Multifunctional intelligent robot, " Theresa Andrews HD-I " robots, " clever lizard A " and " clever lizard B " explosive-removal robots, " RAPTOP-
Medium-sized explosive-removal robots of EOD " etc..And control system is a vital part in robot, the core of control system is inverse
Motion algorithm, its fine or not degree direct influence function, the degree of reliability and operating characteristics of robot etc..
For the special circumstances of robot manipulating task environment, reliability and efficiency are its key factors.If machine
The control system of people is unreliable, it will introduces new unsafe factor, could not only solve problem, can inspire contradictory problems on the contrary
Upgrading.In the Robot actions of 6DOF, using the Remote mode of simple joint, this is to arm end paw
Positioning crawl causes extreme difficulties.Training degree of this kind of mode to operating personnel require it is high and caused by mental burden compared with
Greatly, easily tired and operating efficiency is relatively low.If using inverse matrix method for solving, complexity, and calculating process are not only calculated
In more solution possibilities continuously emerge, it is necessary to remove extraneous root by constraints, and solve not directly perceived.
The content of the invention
The present invention uses the remote control mode of simple joint for the control system of manipulator in the prior art, causes manipulator last
End positioning crawl is difficult, causes the mental burden of operating personnel larger, easily fatigue and the problems such as operating efficiency is relatively low, there is provided
A kind of inverse motion that can realize the linkage of manipulator multi-joint solves Engineering Algorithm.
The present invention is achieved through the following technical solutions the purpose：
Independently crawl against solution Engineering Algorithm, comprises the following steps a kind of 6DOF manipulator：
(1) crawl target point (X, Y, Z) is judged according to the target image of reality, and does not consider targeted attitude；
(2) according to the normal solution method of manipulator, each joint parameter of 6DOF manipulator is set as (θ1,θ2,θ3,θ4,θ5,
θ6), the 4th, 5,6 joints obtain the relation of target point and preceding 3 joints by manually adjusting, that is, three joints after fixing
Initial angle；
(3) first turn waist during solution of inverting, obtain θ1, solution engineering below is plane Solve problems；
(4) θ is calculated2,θ3。
Further, in the step (1), target point P (X, Y, Z) sets manually or provided by robot vision.
Further, in the step (2), the rotation in last 3 joints is not considered, and target point P (X, Y, Z) is positioned at machine
Tool paw center.A plane coordinate system { xy } is fixed on mechanical arm, this is in order to by engineering the problem of space coordinates
Solved to plane coordinate system, reduce variable so that space variable solves simpler.The origin of the plane coordinate system { xy } with
The origin of space basis coordinates system { XYZ } overlaps, that is, is fixed on the origin of the basis coordinates system of robot；The y of plane coordinate system { xy }
Axle overlaps with the Z axis of space coordinates { XYZ }.
No matter how mechanical arm is rotated around waist joint, and coordinate system { xy } is in same plane with manipulator all the time, the seat
Mark system is the dynamic plane coordinate system of auxiliary, then coordinates of the point P in the coordinate system { xy } is designated as (x, y), according to geometry
Knowledge can be as follows in the hope of the coordinate：
Coordinates (X, Y, Z) of the invocation point P in robot basis coordinates system { XYZ } finally is required, point P is in plane moving coordinate system
{ xy } meets relationship below with robot basis coordinates system { X, Y, Z }：So point P is in robot basis coordinates system
Under coordinate be：
Further, in the step (3), (4), it is known that the value of the three-dimensional coordinate (X, Y, Z) of robot end, solve joint
θ1,θ2,θ3Value.
The solvable θ under robot basis coordinates system1Expression formula be：θ1=arctan (Y/X) is (according to the sky of mechanical arm
Between positional information ask for angle)；
It can be obtained by the conclusion of normal solution
X2+Y2+Z2=L1 2+L2 2+2L1L2(cos(θ3-θ2)cos(θ2)-sin(θ3-θ2)sin(θ2)),
X2+Y2+Z2=L1 2+L2 2+2L1L2cos(θ3-θ2+θ2)=L2
It can obtain
It can be solved using the cosine law of triangleAccording to actual desirableTake
θ will be included2,θ3Y-O-x planes
θ2=∠ 1+ ∠ 2, according to the cosine law
Therefore,
Wherein, θ is obtained1,θ2,θ3Afterwards, according to targeted attitude, paw posture is manually adjusted, realizes reasonable pose crawl.
Relative to prior art, beneficial effects of the present invention are：The 6DOF manipulator of the present invention independently captures inverse Xie works
Journey algorithm, when asking for each joint angles, using first turning waist and do not consider paw posture, then ask for the side of other joint angles
Method, waist angle of revolution is first obtained, and then be converted into plane problem and carry out solving other joint angles, substantially increase solution effect
Rate, and avoid inverse matrix and solve the complexity brought of mode, and the mental burden of operating personnel is larger, easy fatigue etc.
Problem, further increase crawl efficiency.
Brief description of the drawings
Fig. 1 is that the end of the present invention does not include the robot manipulator structure schematic diagram of swinging joint.
Fig. 2 is the 6DOF Manipulator Kinematics normal solution geometric diagram schematic diagram of the present invention.
Fig. 3 is that the joint parameter of engineering into the plane of the present invention solves schematic diagram.
Embodiment
Below in conjunction with drawings and the specific embodiments, the present invention will be described in detail.
Embodiment 1.
Independently the inverse solution Engineering Algorithm of crawl comprises the following steps a kind of 6DOF manipulator：
(1) crawl target point (X, Y, Z) is judged according to the target image of reality, and does not consider targeted attitude；
(2) according to the normal solution method of manipulator, each joint parameter of 6DOF manipulator is set as (θ1,θ2,θ3,θ4,θ5,
θ6), the 4th, 5,6 joints obtain the relation of target point and preceding 3 joints by manually adjusting, that is, three joints after fixing
Initial angle；
(3) first turn waist during solution of inverting, obtain θ1, solution engineering below is plane Solve problems；
(4) θ is calculated2,θ3。
Further, target point P (X, Y, Z) sets manually or provided by robot vision in the step (1).
Further, in the step (2), the rotation in last 3 joints is not considered, and target point P (X, Y, Z) is positioned into paw
Center, as shown in Figure 1.A plane coordinate system { xy } is fixed on mechanical arm, the problem of this is in order to by space coordinates
Engineering solves to plane coordinate system, reduces variable so that space variable solves simpler.The original of the plane coordinate system { xy }
Point overlaps with the origin of space basis coordinates system { XYZ }, that is, is fixed on the origin of the basis coordinates system of robot；Plane coordinate system { xy }
Y-axis overlapped with the Z axis of space coordinates { XYZ }, the relation of coordinate system is as shown in Figure 2.
No matter how mechanical arm is rotated around waist joint, and coordinate system { xy } is in same plane with manipulator all the time, the seat
Mark system is the dynamic plane coordinate system of auxiliary, then coordinates of the point P in the coordinate system { xy } is designated as (x, y), according to geometry
Knowledge can be as follows in the hope of the coordinate：
Coordinates (X, Y, Z) of the invocation point P in robot basis coordinates system { XYZ } finally is required, point P is in plane moving coordinate system
{ xy } meets relationship below with robot basis coordinates system { X, Y, Z }：So point P is in robot basis coordinates system
Under coordinate be：
Further, the step (3)：
The value of the three-dimensional coordinate (X, Y, Z) of known machine people end, solve joint θ1,θ2,θ3Value, climb under multifunctional water
The inverse solution geometric diagram figure of row robot kinematics is as shown in Figure 1.
The solvable θ under robot basis coordinates system1Expression formula θ1=arctan (Y/X) is (according to the space bit of mechanical arm
Confidence breath asks for angle)；
It can be obtained by the conclusion of normal solution
X2+Y2+Z2=L1 2+L2 2+2L1L2(cos(θ3-θ2)cos(θ2)-sin(θ3-θ2)sin(θ2))
X2+Y2+Z2=L1 2+L2 2+2L1L2cos(θ3-θ2+θ2)=L2
It can obtain
It can be solved using the cosine law of triangleAccording to actual desirableTake
θ will be included2,θ3Y-O-x planes
θ2=∠ 1+ ∠ 2, according to the cosine law Cause
This,
Wherein, θ is obtained1,θ2,θ3Afterwards, according to targeted attitude, paw posture is manually adjusted, realizes reasonable pose crawl.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (4)
1. a kind of 6DOF manipulator independently captures inverse solution Engineering Algorithm, it is characterised in that comprises the following steps：
(1) crawl target point P (X, Y, Z) is judged according to the target image of reality, and does not consider targeted attitude；
(2) according to the normal solution method of manipulator, each joint parameter of 6DOF manipulator is set as (θ1,θ2,θ3,θ4,θ5,θ6),
4th, 5,6 joints obtain target point P (X, Y, Z) and preceding 3 joints relation by manually adjusting, that is, three after fixing
The initial angle in joint；
(3) first turn waist during solution of inverting, obtain θ1Numerical value, solution engineering below is plane Solve problems；
(4) θ is calculated2,θ3Numerical value；
Target point P (X, Y, Z) sets manually or provided by robot vision in the step (1)；
In the step (2), the rotation in last 3 joints is not considered, and target point P (X, Y, Z) is positioned at mechanical paw center,
A plane coordinate system { xy }, origin and the space basis coordinates system { XYZ } of the plane coordinate system { xy } are fixed on mechanical arm
Origin overlap, that is, be fixed on the origin of the basis coordinates system of robot；The y-axis and space coordinates of plane coordinate system { xy }
The Z axis of { XYZ } overlaps；
No matter how mechanical arm is rotated around waist joint, and coordinate system { xy } is in same plane with manipulator all the time, the coordinate system
It is the dynamic plane coordinate system of auxiliary, then coordinates of the point P in the coordinate system { xy } is designated as (x, y), and it is as follows to try to achieve the coordinate：
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Robot basis coordinates system { X, Y, Z } meets relationship below：So seats of the point P under robot basis coordinates system
It is designated as：
2. 6DOF manipulator according to claim 1 independently captures inverse solution Engineering Algorithm, it is characterised in that the step
Suddenly in (3), it is known that the value of the three-dimensional coordinate (X, Y, Z) of robot end, solve joint θ1,θ2,θ3Value, according to mechanical arm
Spatial positional information asks for angle, can be in the hope of θ under robot basis coordinates system1Expression formula be：
θ1=arctan (Y/X)；
θ can be obtained by the conclusion of normal solution2,θ3Relational expression be：
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3. 6DOF manipulator according to claim 1 independently captures inverse solution Engineering Algorithm, it is characterised in that obtains θ1,
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4. 6DOF manipulator according to claim 2 independently captures inverse solution Engineering Algorithm, it is characterised in that calculates θ2,
θ3Without using inverse matrix method for solving, using first turning waist and do not consider paw posture, then the method for asking for other joint angles.
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| CN106112951A (en) * | 2016-07-01 | 2016-11-16 | 广州霞光技研有限公司 | Multiple degrees of freedom master-slave mode remote operating method for controlling robot |
| CN106625687A (en) * | 2016-10-27 | 2017-05-10 | 安徽马钢自动化信息技术有限公司 | Kinematics modeling method for articulated robot |
| CN106584461B (en) * | 2016-12-21 | 2019-02-15 | 西安科技大学 | The inverse kinematics personification arm configuration optimization method of seven degrees of freedom copy man mechanical arm under multi-constraint condition |
| CN106980751B (en) * | 2017-02-27 | 2019-08-13 | 浙江大学 | A kind of inverse kinematic method of the six axis automation drilling counter boring lathe containing double C axis |
| CN107234618A (en) * | 2017-08-08 | 2017-10-10 | 广东工业大学 | A kind of two degrees of freedom mechanical arm control method and its device |
| CN108213942A (en) * | 2018-01-09 | 2018-06-29 | 常州固高智能控制技术有限公司 | A kind of six-freedom parallel postage-regulating mechanism normal solution method suitable for tank engine compartment assembling |
| CN108189034B (en) * | 2018-01-16 | 2021-09-17 | 广东凯宝机器人科技有限公司 | Method for realizing continuous track of robot |
| CN107953340B (en) * | 2018-01-16 | 2021-09-24 | 广东凯宝机器人科技有限公司 | Universal six-degree-of-freedom manipulator inverse solution engineering algorithm |
| CN108705535B (en) * | 2018-06-04 | 2021-04-16 | 鲁东大学 | Planar 3R operating arm inverse kinematics implementation method |
| CN109333520A (en) * | 2018-10-23 | 2019-02-15 | 广州霞光技研有限公司 | A kind of four axis SCARA robot inverse solution methods |
| CN109648563B (en) * | 2019-01-02 | 2021-10-29 | 南京邮电大学 | Method for controlling motion of serial robot and computer storage medium |
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