CN106514636A - Robot tail end position and gesture analysis method - Google Patents
Robot tail end position and gesture analysis method Download PDFInfo
- Publication number
- CN106514636A CN106514636A CN201611168697.9A CN201611168697A CN106514636A CN 106514636 A CN106514636 A CN 106514636A CN 201611168697 A CN201611168697 A CN 201611168697A CN 106514636 A CN106514636 A CN 106514636A
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- Prior art keywords
- joint
- tail end
- connecting rod
- speed
- analysis method
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Classifications
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
Abstract
The invention relates to a robot tail end position and gesture analysis method. A transfer matrix between axes is expressed by four configuration parameters including the connecting rod lengths, the joint intersection angles, the connecting rod distances and the connecting rod intersection angles, and the gesture of the robot tail end relative to a reference coordinate system is expressed by rotation angles of three-time axis rotation. The method comprises the steps that the position and the gesture of the robot tail end relative to the reference coordinate system are derived by the use of the transfer matrix between the axes and the three-time axis rotation through the forward kinematics; the tail end predicted position and the tail end practical position are compared, and the speed correction quantity is calculated; the tail end expected speed is calculated by the use of an angular speed conversion matrix, the speed correction quantity is combined with the tail end expected speed, and then the tail end speed is obtained; the obtained speed of the robot tail end relative to the reference coordinate system is converted into angular speeds of joints by the use of the inverse kinematics; and the angular speeds of the joints are controlled within the maximum speed limit, and the angular speeds of the joints are combined with the current position, so that the rotation angles needed by the joints are obtained. The robot tail end position and gesture analysis method is simple in treatment process and can guarantee a certain accuracy.
Description
Technical field
The present invention relates to robot kinematics' technical field, more particularly to a kind of robot end's position analysis method.
Background technology
Multi-freedom robot precision and unity feedback control research in, end pose detection be one must solve ask
Topic, is most direct method using the multidimensional pose of advanced multi-dimensions test apparatus measures end, but equipment is prohibitively expensive, unfavorable
In in the actual popularization of engineering, then many scholar's research visions or image carry out robot end's pose with sonac fusion
Measurement, but this method accuracy of detection is inversely proportional to the scope of activities of target, it is impossible to keep in the larger scope
Corresponding precision, and data handling procedure is relatively complicated.
The content of the invention
The technical problem to be solved is to provide a kind of robot end's pose analysis method, processing procedure letter
It is single, and it is able to ensure that certain precision.
The technical solution adopted for the present invention to solve the technical problems is：A kind of robot end's pose analysis side is provided
Method, represents the transition matrix of each between centers with length of connecting rod, joint rotation angle, four structure parameters of connecting rod distance and connecting rod corner, with
The anglec of rotation of threefold rotor is comprised the following steps representing the attitude of the relative reference frame of robot end：
(1) derive that robot end relative using the transition matrix and threefold rotor of each between centers by direct kinematics
The position of reference frame and attitude；
(2) compare distal point estimating position and distal point physical location, calculate speed correction amount；
(3) distal point goal pace is calculated using angular speed transition matrix, obtain end spot speed after adding speed correction amount
Degree；
(4) again by inverse kinematics using Jacobian matrix by the speed of the robot end for obtaining relative reference frame
Degree is converted to the angular speed in each joint；
(5) each joint angular speed is controlled under maximal rate is limited, the angular speed in each joint is obtained plus current position
Rotational angle to needed for each joint.
The length of connecting rod is the common vertical line length between the joints axes of connecting rod two ends；The joint rotation angle is closed for connecting rod two ends
Alternate angle between nodal axisn line；The connecting rod distance is the common vertical line length between two end link of joint；The connecting rod corner is joint
Alternate angle between two end links.
The anglec of rotation of the threefold rotor is respectively by axle center of the x-axis of reference frame and rotatesDegree, referring to seat
The y-axis of mark system is that axle center rotates θ degree and rotates φ degree by axle center of the z-axis of reference frame.
Jacobian matrix in the step (4) isWherein, ziFor each pass
The axial direction of section, piFor the distance in each joint to terminal position point.
It is judged as singular point when the angular speed for obtaining is not unique in the step (4).
Beneficial effect
As a result of above-mentioned technical scheme, the present invention compared with prior art, has the following advantages that and actively imitates
Really：The present invention utilizes Jacobian matrix, six-joint robot distal point is moved in space and switchs to the actual moving situation of each axle,
Which is applied to any mechanism, as long as changing configuration (DH) parameter, is not necessary to change algorithm and is capable of achieving.In addition, the present invention's is reverse
Dynamic (dynamical) singular point preferably judges, is relatively easy to process, and can ensure that certain precision.
Specific embodiment
With reference to specific embodiment, the present invention is expanded on further.It should be understood that these embodiments are merely to illustrate the present invention
Rather than limit the scope of the present invention.In addition, it is to be understood that after the content for having read instruction of the present invention, people in the art
Member can be made various changes or modifications to the present invention, and these equivalent form of values equally fall within the application appended claims and limited
Scope.
Embodiments of the present invention are related to a kind of robot end's pose analysis method, with length of connecting rod, joint rotation angle, connecting rod away from
From the transition matrix that each between centers is represented with four structure parameters of connecting rod corner, robot end is represented with the anglec of rotation of threefold rotor
The attitude of the relative reference frame in end, wherein, the transition matrix of each between centers is：
Wherein, the length of connecting rod a is the common vertical line length between the joints axes of connecting rod two ends；The joint rotation angle α is closed for connecting rod two ends
Alternate angle between nodal axisn line；The connecting rod is apart from the common vertical line length that d is between two end link of joint；The connecting rod corner β is pass
The alternate angle between two end links is saved, the anglec of rotation of the threefold rotor is respectively by axle center of the x-axis of reference frame revolves
TurnSpend, θ degree is rotated with the y-axis of reference frame as axle center and rotate φ degree by axle center of the z-axis of reference frame, it is concrete to wrap
Include following steps：
Derive that robot end relative using the transition matrix and threefold rotor of each between centers by direct kinematics to join
Examine position and the attitude of coordinate system；That is, if it is known that configuration (DH) parameter of robot, it is possible to pushed away by each shaft angle degree
Position and attitude of the robot end with respect to reference frame is derived, the position and attitude have uniqueness.
Relatively distal point estimating position and distal point physical location, calculate speed correction amount.Using angular speed transition matrix
Distal point goal pace is calculated, after adding speed correction amount, end spot speed is obtained；Robot changes appearance in reference frame
It is to change to represent with Eulerian angles during state, but Eulerian angles differential is not the angular speed that robot changes attitude, it is therefore desirable to again
Through a matrix conversion, this matrix is referred to as into angular speed transition matrixAttitude Europe
Draw angle differential as follows with the angular speed relation that robot changes attitude：
Again by inverse kinematics using Jacobian matrix by the rate conversion of the robot end for obtaining relative reference frame
For the angular speed in each joint, calculation isWherein, Jacobian matrix is
Wherein, ziFor the axial direction in each joint, piFor the distance in each joint to terminal position point.Judge when the angular speed for obtaining is not unique
For singular point.
Each joint angular speed is finally controlled under maximal rate is limited, the angular speed in each joint is obtained plus current position
Rotational angle to needed for each joint.
Claims (5)
1. a kind of robot end's pose analysis method, it is characterised in that with length of connecting rod, joint rotation angle, connecting rod distance and company
Four structure parameters of bar corner represent the transition matrix of each between centers, represent robot end with the anglec of rotation of threefold rotor
With respect to the attitude of reference frame, comprise the following steps：
(1) derive that robot end relative using the transition matrix and threefold rotor of each between centers by direct kinematics to refer to
The position of coordinate system and attitude；
(2) compare distal point estimating position and distal point physical location, calculate speed correction amount；
(3) distal point goal pace is calculated using angular speed transition matrix, obtain end spot speed after adding speed correction amount；
(4) speed of the robot end for obtaining relative reference frame is turned using Jacobian matrix by inverse kinematics again
It is changed to the angular speed in each joint；
(5) each joint angular speed is controlled under maximal rate is limited, the angular speed in each joint is obtained respectively plus current position
Rotational angle needed for joint.
2. robot end's pose analysis method according to claim 1, it is characterised in that the length of connecting rod is connecting rod
Common vertical line length between the joints axes of two ends；The joint rotation angle is the alternate angle between the joints axes of connecting rod two ends；The connecting rod
Distance is the common vertical line length between two end link of joint；The connecting rod corner is the alternate angle between two end link of joint.
3. robot end's pose analysis method according to claim 1, it is characterised in that the rotation of the threefold rotor
Gyration is respectively by axle center of the x-axis of reference frame and rotatesDegree, with the y-axis of reference frame as axle center rotate θ degree and with
The z-axis of reference frame is that axle center rotates φ degree.
4. robot end's pose analysis method according to claim 1, it is characterised in that refined in the step (4)
Gram than matrix it isWherein, ziFor the axial direction in each joint, piIt is each joint to end
The distance of location point.
5. robot end's pose analysis method according to claim 1, it is characterised in that in the step (4) when
To angular speed it is not unique when be judged as singular point.
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| CN201611168697.9A CN106514636A (en) | 2016-12-16 | 2016-12-16 | Robot tail end position and gesture analysis method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107685330A (en) * | 2017-10-18 | 2018-02-13 | 佛山华数机器人有限公司 | A kind of Inverse Kinematics Solution method for solving of six degree of freedom wrist bias series robot |
| CN109159151A (en) * | 2018-10-23 | 2019-01-08 | 北京无线电测量研究所 | A kind of mechanical arm space tracking tracking dynamic compensation method and system |
| CN109176531A (en) * | 2018-10-26 | 2019-01-11 | 北京无线电测量研究所 | A kind of tandem type robot kinematics calibration method and system |
| CN109591023A (en) * | 2018-12-30 | 2019-04-09 | 深圳市优必选科技有限公司 | The iterative calculation method and serial manipulator of serial manipulator |
| CN110405762A (en) * | 2019-07-22 | 2019-11-05 | 北京理工大学 | A kind of biped robot's attitude control method based on space double inverted pendulum model |
| CN115008468A (en) * | 2022-07-04 | 2022-09-06 | 中国科学院沈阳自动化研究所 | Mechanical arm attitude speed planning control method |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107685330A (en) * | 2017-10-18 | 2018-02-13 | 佛山华数机器人有限公司 | A kind of Inverse Kinematics Solution method for solving of six degree of freedom wrist bias series robot |
| CN109159151A (en) * | 2018-10-23 | 2019-01-08 | 北京无线电测量研究所 | A kind of mechanical arm space tracking tracking dynamic compensation method and system |
| CN109159151B (en) * | 2018-10-23 | 2021-12-10 | 北京无线电测量研究所 | Mechanical arm space trajectory tracking dynamic compensation method and system |
| CN109176531A (en) * | 2018-10-26 | 2019-01-11 | 北京无线电测量研究所 | A kind of tandem type robot kinematics calibration method and system |
| CN109591023A (en) * | 2018-12-30 | 2019-04-09 | 深圳市优必选科技有限公司 | The iterative calculation method and serial manipulator of serial manipulator |
| CN109591023B (en) * | 2018-12-30 | 2020-09-08 | 深圳市优必选科技有限公司 | Iterative calculation method of series robot and series robot |
| CN110405762A (en) * | 2019-07-22 | 2019-11-05 | 北京理工大学 | A kind of biped robot's attitude control method based on space double inverted pendulum model |
| CN110405762B (en) * | 2019-07-22 | 2020-09-25 | 北京理工大学 | Biped robot attitude control method based on spatial second-order inverted pendulum model |
| CN115008468A (en) * | 2022-07-04 | 2022-09-06 | 中国科学院沈阳自动化研究所 | Mechanical arm attitude speed planning control method |
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