CN109702751A - A kind of location class of seven freedom series connection mechanical arm is against solution method - Google Patents
A kind of location class of seven freedom series connection mechanical arm is against solution method Download PDFInfo
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Abstract
A kind of location class of seven freedom series connection mechanical arm is against solution method, mechanical arm includes seven joints, seven joint arranged in series, it is mutually perpendicular between adjacent two joint, method includes: S1, four connecting rods and three nodes are converted by mechanical arm, wherein first connecting rod, first node, second connecting rod, second node, third connecting rod, third node, fourth link are sequentially connected；The starting point of first connecting rod is placed in the origin of rectangular coordinate system by S2, obtains the position coordinates and posture coordinate of fourth link end, and according to the position coordinates of fourth link end and posture coordinate, calculates the position coordinates of third node；S3 calculates the position coordinates of second node according to the position coordinates of third node.By the position coordinates of Converse solved each node, the rotation angle in each joint is solved using position coordinates, is realized that the inverse solution of the location class of mechanical arm solves, is expanded the application of redundant mechanical arm, realizes that mechanical arm flexibly controls under complex scene, has important practical significance.
Description
Technical field
The present invention relates to mechanical arm technical field more particularly to a kind of inverse solution sides of location class of seven freedom series connection mechanical arm
Method.
Background technique
The inverse solution solution of mechanical arm is the basis that mechanical arm realizes each generic operation and precise controlling, and mechanical arm is generally by multiple companies
Bar composition, mechanical arm solution of inverting can be divided into the inverse solution of location class and the inverse solution two major classes of velocity stage, velocity stage against solution be known mechanical
Arm end 6 DOF velocity vector is based on mechanical arm Jacobian matrix, solves each joint velocity.The inverse solution of velocity stage passes through iteration, energy
It is enough to obtain the corresponding each joint angles variation of pose variation in a period of time.And location class is then according to mechanical arm tail end six against solution
Tie up the corresponding each joint angles of pose direct solution.As the application environment of current mechanical arm is more and more extensive, real-time control
Demand is higher and higher, has highlighted the importance of the inverse solution of location class.It focuses mostly at present for the location class of series connection mechanical arm against solution
On 6DOF (degree of freedom) mechanical arm, 6DOF mechanical arm has 16 real solutions in its working space, can be with
The closing analytic solutions of the inverse solution of its location class are acquired by separating disappear member and equation with many unknowns.And invert solution for redundancy mechanical arm,
Then spininess is to planar redundant manipulator, such as 4DOF and 5DOF.And with the arrival in artificial intelligence epoch, to the intelligence of mechanical arm
Change operation to require to increase, dexterous manipulation, avoidance and keeps away unusual demand 6, space freedom degree is made to can no longer meet many fields
Mechanical arm application under closing, has a spatial redundancies and (has an additional freedom under the premise of reaching six-dimensional pose
Degree) the mechanical arm of 7DOF there is infinite multiresolution in working space, itself can be optimized under the premise of reaching specified pose
Configuration.
Industry at present and service mechanical arm etc. develop towards redundancy direction, grind for the location class of 7DOF mechanical arm against solution
Study carefully, needs to be related to the content in terms of solution three is selected in the inverse quick resolving solved of location class, general solution characterization and optimization.It is directed to and has at present
The research development of the inverse solution of the location class of one spatial redundancies mechanical arm is less, and one is the sides quadratured using velocity stage against solution
Method, but error can be expanded, it is substantially still the inverse solution of velocity stage；The drawbacks of another kind is solved using numerical method, numerical method
There are two aspect, the disaggregation on the one hand obtained is and to be difficult to the relationship reflected between each solution all against the subset solved, is unfavorable for
Optimization choosing solution；On the other hand it is that numerical value calculates the huge hardware resource of consuming, is unfavorable for the real-time control of mechanical arm.Therefore, it mentions
The location class of 7DOF redundant mechanical arm that is a kind of quick and being able to reflect relation of solution set is against solution method out, for expanding redundant mechanical
The application of arm carries out mechanical arm dexterous control in real time towards complex scene, has important practical application meaning.
Summary of the invention
(1) technical problems to be solved
The present invention provides a kind of location class of seven freedom series connection mechanical arm against solution method, can quickly calculate machinery
Each joint angles of arm.
(2) technical solution
The present invention provides a kind of location class of seven freedom series connection mechanical arm against solution method, and mechanical arm includes seven passes
It saves, seven joint arranged in series, is mutually perpendicular between adjacent two joint, method includes: S1, converts four for mechanical arm configuration
Connecting rod and three nodes, wherein first connecting rod, first node, second connecting rod, second node, third connecting rod, third node,
Double leval jib is sequentially connected；The starting point of first connecting rod is placed in the origin of rectangular coordinate system by S2, obtains the position of fourth link end
Coordinate and posture coordinate are set, and according to the position coordinates of fourth link end and posture coordinate, the position for calculating third node is sat
Mark；S3 calculates the position coordinates of second node according to the position coordinates of third node.
Optionally, in step S2 and according to the pose of fourth link end, the position coordinates of third node are calculated specifically:
Obtain transformation matrix of the pose of fourth link end relative to rectangular coordinate systemThird node is relative to rectangular coordinate system
Transformation matrixFourth link end is relative to the transformation matrix of third nodeIt obtainsAccording toAnd the position coordinates of third node are calculated in DH parameter.
Optionally, step S1 further includes the length for obtaining each connecting rod on four connecting rods, wherein first connecting rod, second connect
The length of connecting rod of bar, third connecting rod and fourth link is respectively d1、d2、d3And d4。
Optionally, the pose of fourth link end is [dx dy dz δx δy δz]T, wherein dx、dy、dzFor fourth link
The position coordinates of end, δx、δy、δzFor the posture coordinate of fourth link end, according toAnd DH parameter calculates
Obtain the position coordinates of third node specifically:
It will according to DH parameterExpansion obtains:
It obtains:
Wherein, [xT yT zT]T=[dx dy dz]T, [x3 y3 z3]TFor the position coordinates of third node,Wherein, n (nx, ny, nz), o (ox, oy, oz), a (ax, ay, az) it is rotation
Three column vectors of torque battle array, three vectors are unit vector and pairwise orthogonal, R (z, δz) for around the spin matrix of z-axis, R
(y, δy) for around the spin matrix of y-axis, R (x, δx) for around the spin matrix of x-axis.
Optionally, the feasible location of second node constitutes circular trace, according to the position coordinates of third node, calculates second
Position coordinates (the x of node2, y2, z2) it is specially the equation of locus that circular trace is resolved according to the position coordinates of third node,
The equation of locus of middle second node are as follows:
x2=o1+rcosφa1+rsinφb1
y2=o2+rcosφa2+rsinφb2
z2=o3+rcosφa3+rsinφb3
Wherein, r is the radius of circular trace, a (a1, a2, a3) and b (b1, b2, b3) it is two be located in circular trace plane
A mutually orthogonal unit vector, n are the normal vector perpendicular to motion profile plane, o (o1, o2, o3) be second node circle
The coordinate of the center of circle O of track, φ are the phase angle of circular trace.
Optionally, the coordinate of the center of circle O of the circular trace of the second node is calculated according to the following formula:
Wherein, d1, oIt is first node at a distance from the center of circle Od1,3For first node and
The distance between three nodes,l1,3The vector of third node is directed toward for first node.
Optionally, the radius r of the circular trace of second node is calculated according to the following formula:
Optionally, two mutually orthogonal unit vector a in the motion profile plane are calculated according to the following formula
(a1, a2, a3) and b (b1, b2, b3):
Wherein, l0,1The vector of first node is directed toward for first connecting rod starting point.
Optionally, further includes: S4, according to third node, second node, first node, first connecting rod starting point and
The position coordinates of fourth link end, acquire respectively the fourth link, third connecting rod, second connecting rod and first connecting rod to
Amount, the rotation angle in each joint is acquired according to vector.
Optionally, the rotation angle in each joint is calculated by following formula, wherein the rotation angle in the i-th joint is θi:
θ1=arctan (y2, x2)
θ6=acosT33
Wherein, n123For θ3P when equal to 01P2P3The normal vector of plane, n123' it is θ3P when equal to 01P2P3' plane normal direction
Amount, TijIndicate the element of the i-th row jth column in T, wherein T are as follows:
(3) beneficial effect
The present invention provides a kind of location class of seven freedom series connection mechanical arm against solution method, passes through Converse solved each section
The position coordinates of point solve the rotation angle in each joint by position coordinates, the application of redundant mechanical arm are expanded, towards complicated field
Scape carries out mechanical arm dexterous control in real time, has important practical application meaning.
Detailed description of the invention
Fig. 1 diagrammatically illustrates the structural representation of the original state of the series connection mechanical arm of the seven freedom in the embodiment of the present disclosure
Figure；
Fig. 2 diagrammatically illustrates the simplified structure diagram of the series connection mechanical arm of the seven freedom in the embodiment of the present disclosure；
The structure that Fig. 3 diagrammatically illustrates the series connection mechanical arm of the seven freedom under the working condition in the embodiment of the present disclosure is shown
It is intended to.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing, the present invention is described in more detail.
The present invention provides a kind of location class of seven freedom series connection mechanical arm against solution method, which includes seven passes
It saves, seven joint arranged in series, is mutually perpendicular between adjacent two joint, method includes: S1, converts four for mechanical arm configuration
Connecting rod and three nodes, wherein first connecting rod, first node, second connecting rod, second node, third connecting rod, third node,
Double leval jib is sequentially connected；The starting point of first connecting rod is placed in the origin of rectangular coordinate system by S2, obtains the position of fourth link end
Coordinate and posture coordinate are set, and according to the position coordinates of fourth link end and posture coordinate, the position for calculating third node is sat
Mark；S3 calculates the position coordinates of second node according to the position coordinates of third node.
It is described in detail for the mechanical arm shown in Fig. 1 in the embodiment of the present invention, referring to Fig. 1, the mechanical arm position
In base rectangular coordinate system X0Y0Z0In, Fig. 1 is the original state of the mechanical arm, which is made of seven joints, respectively the
One joint 1, second joint 2, third joint 3, the 4th joint 4, the 5th joint 5, the 6th joint 6 and the 7th joint 7, XmYmZm
The respectively coordinate system in the joint m, the integer of 1≤m≤7, referring in Fig. 1, what black rotation arrows indicated each joint can
Activity direction, as shown in Figure 1, the first joint 1 can be around Z0Axis rotation, second joint 2 can be around Z1Axis rotation, third joint 3 can
Around Z2Axis rotation, the 4th joint 4 can be around Z3Axis rotation, the 5th joint can be around Z4Axis rotation, the 6th joint can be around Z5Axis
Rotation, the 7th joint can be around Z6Axis rotation.The positional relationship of each joint coordinate system is shown in Table 1 under original state shown in Fig. 1,
It is found that the equivalent length l of second joint 2, the 4th joint 4 and the 6th joint 6 is 0mm, which can simplify such as figure table 1
There are four the mechanical arms of connecting rod and three nodes for tool shown in 2.
Table 1
In table 1, αi-1For from reference axis zi-1To ziAround reference axis xi-1The angle of rotation；ai-1For from reference axis zi-1To ziEdge
Reference axis xi-1The distance of measurement；For from reference axis xi-1To reference axis xiAround reference axis ziThe angle of rotation；liFor from reference axis
xi-1To reference axis xiAlong reference axis ziThe distance of measurement.During simplifying between mechanical arm two adjacent coordinate system Z axis
Common vertical line length be length of connecting rod, will initial transversely arranged connecting rod as node, wherein second joint 2, the 4th joint 4 and
6th joint 6 is lateral joint and length is 0, therefore it is d that the first joint, which is reduced to length, in the mechanical arm1First
Connecting rod, it is d that third joint, which is reduced to length,2Second connecting rod, the 5th joint be reduced to length be d3Third connecting rod,
It is d that seven joints, which are reduced to length,4Fourth link, second joint is reduced to first node P1, the 4th joint is reduced to the second section
Point P2, the 6th joint is reduced to third node P3, the starting point of first connecting rod is node P0, the endpoint node Pe of fourth link.
Mechanical arm configuration is converted four connecting rods and three nodes by S1, wherein first connecting rod, first node, second connect
Bar, second node, third connecting rod, third node, fourth link are sequentially connected；
In embodiments of the present invention, simplified model includes that the first joint is reduced to length as d1First connecting rod,
It is d that third joint, which is reduced to length,2Second connecting rod, the 5th joint be reduced to length be d3 third connecting rod, the 7th close
It is d that section, which is reduced to length,4Fourth link, second joint is reduced to first node P1, the 4th joint is reduced to second node
P2, the 6th joint is reduced to third node P3, the starting point of first connecting rod is node P0, the endpoint node Pe of fourth link.
The starting point of first connecting rod is placed in the origin of rectangular coordinate system by S2, obtains the position coordinates of fourth link end
The position coordinates of third node are calculated and according to the position coordinates of fourth link end and posture coordinate with posture coordinate；
The simplified model that step S1 is obtained is set to rectangular coordinate system X0Y0Z0In, make first connecting rod starting point P0It is straight with base
The origin of angular coordinate system is overlapped, referring to fig. 2, from first connecting rod starting point P0Start to be followed successively by first connecting rod (corresponding to the first pass
Section 1), second connecting rod (correspond to third joint 3), third connecting rod (corresponding to the 5th joint 5) and fourth link (correspond to the
Seven joints 7), wherein first connecting rod and second connecting rod tie point are first node P1, second connecting rod and third connecting rod tie point be
Second node P2, third connecting rod and fourth link tie point be third node P3。
By measuring available first connecting rod, second connecting rod, third connecting rod and the corresponding length of connecting rod of fourth link
It is followed successively by d1、d2、d3And d4, when in fourth link end, the pose of Pe is fixed, the Z axis of first connecting rod and base rectangular coordinate system
Always it is overlapped namely P1The coordinate of point is (0 0 d1), node P2Feasible trajectory be round (as shown in Figure 2), therefore can lead to
The parametric equation for solving the circus movement track is crossed, the second node P under the pose of fourth link end Pe is obtained2Corresponding institute
There is feasible location, further obtains the solution of each joint angles.
When known to the Pe pose of fourth link end, if wanting to acquire second node P in the embodiment of the present invention2Position coordinates
Third node P must be acquired first3Position coordinates, it is specific as follows:
S21 obtains transformation matrix of the pose of fourth link end relative to rectangular coordinate system
S22, transformation matrix of the third node relative to rectangular coordinate system
S23, fourth link end are relative to the transformation matrix of third nodeIt obtains
S24, according toAnd the position coordinates of third node are calculated in DH parameter.
Fourth link end P is obtained in the corresponding embodiment of the present invention firstePose be Pe=[dx dy dz δx δy
δz]T, wherein first three items dx、dy、dzFor fourth link end PePosition coordinates, δx、δy、δzFor fourth link end Pe's
Posture coordinate is indicated in posture coordinate with ZYX Eulerian angles, by fourth link end PePose is become relative to rectangular coordinate system
Get transformation matrix in returnThe position coordinates of third node namely node P3 are set first as [x3y3 z3]T, third node P3 phase
Rectangular coordinate system is converted to obtain transformation matrixThen it obtainsAccording to DH parameter, can be unfolded
To following relational expression:
It is derived from:
Wherein [xT yT zT]T=[dx dy dz]T,Wherein, n
(nx, ny, nz), o (ox, oy, oz), a (ax, ay, az) be spin matrix three column vectors, three vectors be unit vector and
Pairwise orthogonal, R (z, δz) for around the spin matrix of z-axis, R (y, δy) for around the spin matrix of y-axis, R (x, δx) for around the rotation of x-axis
Torque battle array.
It so far can be in the hope of third node P3Position coordinates be [x3 y3 z3]T。
S3 calculates the position coordinates of second node according to the position coordinates of third node.；
It can be in the hope of third node P by step S23Corresponding position coordinates [x3 y3 z3]T, second node P2It is corresponding can
The central coordinate of circle of capable circus movement track is set as o (o1, o2, o3), second node P2The parameter side of corresponding circus movement track
Journey are as follows:
Wherein, r is trace radius, a (a1, a2, a3) and b (b1, b2, b3) it is two in the primary plane mutually orthogonal
Unit vector, n be perpendicular to track disk normal vector, φ be the circular trace phase angle.
The coordinate that center of circle O can be solved in the following manner, obtains following formula according to geometric method first:
Wherein, d1,3Indicate first node P1With third node P3Between distance,d1, o
Indicate node P1At a distance from the O of the center of circle；
It is available by above formula (3):
And then obtain the radius r and its central coordinate of circle O of the circus movement track:
Wherein, l1,3For first node P1It is directed toward third node P3Vector, third node P can be calculated from above3Position
Coordinate is set, as known from the above P1Coordinate be (0 0 d1), it so far can be in the hope of the coordinate of center of circle O.
Arbitrary two orthonormal vector a (a in circus movement trajectory plane can be sought in the following manner1, a2, a3)
With b (b1, b2, b3):
Wherein, l0,1For node P0It is directed toward node P1Vector.
Formula (4)~(7) substitution formula (2) can be obtained in given φ lower node P2Coordinate (x2y2, z2)T。
S4, according to third node, second node, first node, the starting point of first connecting rod and fourth link end
Position coordinates acquire the vector of fourth link, third connecting rod, second connecting rod and first connecting rod respectively, are asked according to the vector
Obtain the rotation angle in each joint.
It can be in the hope of third node P by above-mentioned steps S1~S33, second node P2And first node P1Position coordinates,
Therefore each joint can be from which further followed that in the hope of the vector of fourth link, third connecting rod, second connecting rod and first connecting rod
Angle, θ is rotated, referring to Fig. 3 it is found that the first joint 1 corresponds to the first connecting rod in simplified model, third joint 3, which corresponds to, to be simplified
Second connecting rod in model, the 5th joint 5 correspond to the third connecting rod in simplified model, and the 7th joint corresponds in simplified model
Fourth link, the rotation angle of the first joint 1 namely first connecting rod is θ1, the first joint 1 is implemented perpendicular to the present invention always
X/Y plane in example, second connecting rod can only turn under the drive of second joint 2 along the direction of the axis perpendicular to second joint 2
It is dynamic, the rotation angle, θ in the first joint 11As angle of the second connecting rod in x/y plane upslide movie queen and X-axis, θ2For second joint 2
Rotation angle, second connecting rod can only rotate under the drive of second joint 2 along the direction of the axis perpendicular to second joint 2,
Therefore θ2Size be first connecting rod and second connecting rod angle, since P being calculated from above0, P1, P2Coordinate, therefore very
It is easy to get the vector of first connecting rod and second connecting rod, and then calculates and arrives θ2, with reason P1, P2, P3Calculate second connecting rod and
The vector of three-link, and then calculate the rotational angle theta of the angle between second connecting rod and third connecting rod namely the 4th joint 44, therefore
The rotational angle theta in the first joint 1, second joint 2 and the 4th joint 4 can be obtained1, θ2, θ4Calculation formula are as follows:
The P in initial position1, P2, P3In the same plane, when third joint 3 rotates a certain angle, θ3When, so that third
The position of node is P '3Not in former P3At position, therefore θ3Size be plane P1, P2, P3With P1, P2, P '3Angle, in order to ask
Solve the dihedral angle, θ3When being 0, the coordinate system in the 4th joint 4 is relative to P0The transformation matrix of the basis coordinates system of the origin at place isWherein,For the first joint 1 coordinate system relative to P0The change of the basis coordinates system of the origin at place
Matrix is changed,For second joint 2 coordinate system relative to the first joint 1 coordinate system transformation matrix,For third joint 3
Rotate θ3The transformation matrix of coordinate system after angle relative to the coordinate system of second joint 2,For the coordinate system phase in the 4th joint 4
For the transformation matrix of the coordinate system in third joint 3.
Wherein,It combines and obtains with formula (8)
It is similarly obtained with formula (1):
Wherein,P3'=[x3', y3', z3′]T；
It is obtained after simplification:
To obtain P '3Coordinate, and then obtain l2,3', due to l1,2And l2,3It is plane P1P2P3Not conllinear two to
Amount, l1,2And l2,3' it is plane P1P2P3' not conllinear two vectors, the then normal vector of two planes are as follows:
To obtain dihedral angle are as follows:
According to the above-mentioned θ acquired1~θ4, can be in the hope ofIt is based onWherein,For the 5th joint 5
Coordinate system relative to the 4th joint 4 coordinate system transformation matrix,For the 6th joint 6 coordinate system relative to the 5th joint
The transformation matrix of 5 coordinate system,For the 7th joint 7 coordinate system relative to the 6th joint 6 coordinate system transformation matrix,
For the real transform matrix of the coordinate system relative to basis coordinates system in the 4th joint 4, can be unfolded to obtain:
It enablesWherein TijThe element for indicating the i-th row jth column in T can be with thus according to formula (13)
Solve θ5~θ7Each angle value.
In the above manner, the coordinate in each joint and the rotation angle in each joint can be asked.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
It describes in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in guarantor of the invention
Within the scope of shield.
Claims (10)
1. a kind of location class of seven freedom series connection mechanical arm is against solution method, the mechanical arm includes seven joints, described seven
Joint arranged in series is mutually perpendicular between adjacent two joint, which is characterized in that the described method includes:
The mechanical arm configuration is converted four connecting rods and three nodes by S1, wherein first connecting rod, first node, second connect
Bar, second node, third connecting rod, third node, fourth link are sequentially connected；
The starting point of the first connecting rod is placed in the origin of rectangular coordinate system by S2, obtains the position of the fourth link end
Coordinate and posture coordinate, and according to the position coordinates and posture coordinate of the fourth link end, calculate the third node
Position coordinates；
S3 calculates the position coordinates of the second node according to the position coordinates of the third node.
2. the method according to claim 1, wherein described in the step S2 and according to the fourth link end
The pose at end calculates the position coordinates of the third node specifically:
Obtain transformation matrix of the pose of the fourth link end relative to the rectangular coordinate system
Transformation matrix of the third node relative to the rectangular coordinate system
The fourth link end is relative to the transformation matrix of third nodeIt obtains
According toAnd the position coordinates of the third node are calculated in DH parameter.
3. according to the method described in claim 2, it is characterized in that, the step S1 further includes obtaining on four connecting rods often
The length of one connecting rod, wherein first connecting rod, second connecting rod, third connecting rod and fourth link length of connecting rod be respectively d1、d2、
d3And d4。
4. according to the method described in claim 3, it is characterized in that, the pose of the fourth link end is [dx dy dz δx
δy δz]T, wherein dx、dy、dzFor the position coordinates of the fourth link end, δx、δy、δzFor the fourth link end
Posture coordinate, which is characterized in that the basisAnd the position seat of the third node is calculated in DH parameter
Mark specifically:
It will be described according to DH parameterExpansion obtains:
It obtains:
Wherein, [xT yT zT]T=[dx dy dz]T, [x3 y3 z3]TFor the position coordinates of third node,Wherein, n (nx, ny, nz), o (ox, oy, oz), a (ax, ay, az) it is rotation
Three column vectors of torque battle array, three vectors are unit vector and pairwise orthogonal, R (z, δz) for around the spin matrix of z-axis, R
(y, δy) for around the spin matrix of y-axis, R (x, δx) for around the spin matrix of x-axis.
5. according to the method described in claim 4, the feasible location of the second node constitutes circular trace, which is characterized in that
The position coordinates according to the third node, calculate the position coordinates (x of the second node2, y2, z2) it is specially basis
The position coordinates of third node resolve the equation of locus of the circular trace, wherein the equation of locus of the second node are as follows:
x2=o1+rcosφa1+rsinφb1
y2=O2+rcosφa2+rsinφb2
z2=o3+rcosφa3+rsinφb3
Wherein, r is the radius of the circular trace, a (a1, a2, a3) and b (b1, b2, b3) it is to be located in the circular trace plane
Two mutually orthogonal unit vectors, n be perpendicular to the motion profile plane normal vector, o (o1, o2, o3) it is the second section
The coordinate of the center of circle O of the circular trace of point, φ are the phase angle of the circular trace.
6. according to the method described in claim 5, it is characterized in that, calculating the circular rail of the second node according to the following formula
The coordinate of the center of circle O of mark:
Wherein, d1, oIt is first node at a distance from the center of circle Od1,3For first node and third section
The distance between point,l1,3The vector of third node is directed toward for first node.
7. according to the method described in claim 6, it is characterized in that, calculating the circular rail of the second node according to the following formula
The radius r of mark:
。
8. method according to claim 6 or 7, which is characterized in that calculate the motion profile plane according to the following formula
The mutually orthogonal unit vector a (a of interior two1, a2, a3) and b (b1, b2, b3):
Wherein, l0,1The vector of first node is directed toward for first connecting rod starting point.
9. the method according to claim 1, wherein further include:
S4, according to the third node, second node, first node, the starting point of first connecting rod and fourth link end
Position coordinates acquire the vector of the fourth link, third connecting rod, second connecting rod and first connecting rod respectively, according to it is described to
Amount acquires the rotation angle in each joint.
10. according to the method described in claim 9, it is characterized in that, calculate the rotation angle in each joint by following formula,
Wherein, the rotation angle in the i-th joint is θi:
θ1=arctan (y2, x2)
θ6=a cosT33
Wherein, n123For θ3P when equal to 01P2P3The normal vector of plane, n123' it is θ3P when equal to 01P2P3' plane normal vector, Tij
Indicate the element of the i-th row jth column in T, wherein T are as follows:
。
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| CN111881411A (en) * | 2020-07-10 | 2020-11-03 | 广联达科技股份有限公司 | Method and device for determining position of mechanical node |
| CN112091979A (en) * | 2020-10-10 | 2020-12-18 | 哈尔滨工业大学 | Seven-degree-of-freedom mechanical arm limiting optimization method based on position-level inverse kinematics |
| CN113119104A (en) * | 2019-12-31 | 2021-07-16 | 深圳市优必选科技股份有限公司 | Mechanical arm control method, mechanical arm control device, computing equipment and system |
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| CN112091979A (en) * | 2020-10-10 | 2020-12-18 | 哈尔滨工业大学 | Seven-degree-of-freedom mechanical arm limiting optimization method based on position-level inverse kinematics |
| CN113370213A (en) * | 2021-06-25 | 2021-09-10 | 成都飞机工业（集团）有限责任公司 | Attitude calculation method for robot end effector |
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| CN114102662A (en) * | 2021-11-26 | 2022-03-01 | 江西省智能产业技术创新研究院 | Composite robot |
| CN114147714A (en) * | 2021-12-02 | 2022-03-08 | 浙江机电职业技术学院 | Autonomous robot mechanical arm control parameter calculation method and system |
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