CN116214504A - 6-axis robot inverse solution method, device and storage medium - Google Patents
6-axis robot inverse solution method, device and storage medium Download PDFInfo
- Publication number
- CN116214504A CN116214504A CN202211730890.2A CN202211730890A CN116214504A CN 116214504 A CN116214504 A CN 116214504A CN 202211730890 A CN202211730890 A CN 202211730890A CN 116214504 A CN116214504 A CN 116214504A
- Authority
- CN
- China
- Prior art keywords
- axis robot
- linear motion
- axis
- joint
- parameters
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 67
- 239000011159 matrix material Substances 0.000 claims description 52
- 230000009466 transformation Effects 0.000 claims description 32
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000010276 construction Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 7
- 238000004422 calculation algorithm Methods 0.000 description 6
- 238000004590 computer program Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000013519 translation Methods 0.000 description 2
- CLOMYZFHNHFSIQ-UHFFFAOYSA-N clonixin Chemical compound CC1=C(Cl)C=CC=C1NC1=NC=CC=C1C(O)=O CLOMYZFHNHFSIQ-UHFFFAOYSA-N 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000011426 transformation method Methods 0.000 description 1
Images
Classifications
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- 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
-
- 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
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
The application relates to a 6-axis robot inverse solution method, a device and a storage medium, wherein the method comprises the following steps: acquiring linear motion parameters of the 6-axis robot; calculating the equivalent linear motion parameters of the 6-axis robot according to the linear motion parameters; establishing a kinematic model of the 6-axis robot by adopting a standard D-H method to obtain D-H parameters of each joint; constructing a constraint equation set of the 6-axis robot; and solving the constraint equation set by adopting a numerical iteration method. According to the 6-axis robot inverse solution method, device and storage medium, joint coordinates of 5 axes of other axes and the pose of the tail end of the robot are solved according to the joint angle appointed by a certain axis, and 6-axis robot inverse kinematics solution is achieved.
Description
Technical Field
The application relates to the field of 6-axis robots, in particular to a 6-axis robot inverse solution method, a device and a storage medium.
Background
The 6-axis robot can carry out track planning according to joint coordinates and also can carry out track planning according to Cartesian space coordinates. When trajectory planning is performed according to cartesian coordinates, the inverse kinematics (inverse solution) of the robot needs to be considered with great importance. The existing 6-axis robot inverse solution method is an inverse solution algorithm with known pose, and the concept is that the pose matrix of each interpolation period is calculated by adopting a Cartesian motion (linear interpolation or circular interpolation and the like) interpolation algorithm according to the pose matrix of a starting point, the pose matrix of an ending point and Cartesian speed, and each joint is gradually solved by utilizing the relation between 6 joints and the pose matrix based on the relation of the pose matrix sum, so that the joint coordinates of 6 axes are obtained.
The inverse solution algorithm of the pose matrix is known, so that the problem of inverse solution of the 6-axis robot in most cases can be solved, however, for some special cases, such as the passing singular points of the robot, if the inverse solution algorithm of the pose matrix is adopted, the joint coordinates of 6 axes of all interpolation periods are obtained by carrying out inverse solution on all the pose matrices obtained by Cartesian interpolation motion. If the joint velocity is obtained by deriving the joint coordinates obtained by inverse solution of all interpolation periods, it is found that the joint velocity of a certain axis has exceeded the maximum allowable value of the joint velocity of the axis, which is obviously not allowable by the joint driving motor.
It is obvious that in view of the above situation, it is not suitable to use an inverse solution algorithm with known pose, and therefore, a new algorithm is needed to implement an inverse kinematics solution when the robot position and pose are unknown and the joint angle of a certain axis is known.
Disclosure of Invention
In order to solve the technical problems or at least partially solve the technical problems, the application provides a 6-axis robot inverse solution method, a 6-axis robot inverse solution device and a storage medium.
In a first aspect, the present application provides a 6-axis robotic inverse solution method, the method comprising the steps of:
acquiring linear motion parameters of the 6-axis robot;
calculating the equivalent linear motion parameters of the 6-axis robot according to the linear motion parameters;
establishing a kinematic model of the 6-axis robot by adopting a standard D-H method to obtain D-H parameters of each joint;
constructing a constraint equation set of the 6-axis robot;
and solving the constraint equation set by adopting a numerical iteration method.
Preferably, the step of obtaining the linear motion parameter of the 6-axis robot includes the steps of:
acquiring and analyzing a linear motion program of the 6-axis robot;
acquiring joint coordinates of a motion starting point of the 6-axis robot;
acquiring joint coordinates of a motion end point of the 6-axis robot;
acquiring a homogeneous transformation matrix from a base coordinate system to a flange coordinate system of the 6-axis robot;
and obtaining the homogeneous transformation matrix of the 6-axis robot.
Preferably, the calculating the equivalent linear motion parameter of the 6-axis robot according to the linear motion parameter includes the steps of:
acquiring a homogeneous transformation matrix and a homogeneous transformation matrix from a base coordinate system to a flange coordinate system in the linear motion parameters;
calculating an equivalent rotation angle according to the homogeneous transformation matrix from the base coordinate system to the flange coordinate system and the homogeneous transformation matrix;
and calculating an equivalent rotation axis according to the homogeneous transformation matrix from the base coordinate system to the flange coordinate system, the homogeneous transformation matrix and the equivalent rotation angle.
Preferably, the expression of the equivalent rotation angle is:
wherein acos represents an inverse cosine, a represents a linear motion starting point, and b represents a linear motion ending point;
preferably, the expression of the equivalent rotation axis is:
wherein θ represents an equivalent rotation angle,
preferably, the establishing a kinematic model of the 6-axis robot by using a standard D-H method to obtain D-H parameters of each joint includes the steps of:
establishing a joint coordinate system at the axis of each joint of the 6-axis robot;
determining DH parameters of each joint;
and determining DH parameters of the 6-axis robot according to DH parameters of the joints.
Preferably, the step of determining the DH parameter of each of the joints comprises the steps of:
determining a link offset angle of each of the joints;
determining a link bias for each of the joints;
determining the length of a connecting rod of each joint;
determining the torsion angle of the connecting rod of each joint.
In a second aspect, the present application provides a 6-axis robotic inverse solution apparatus, comprising:
the linear motion parameter acquisition module is used for acquiring the linear motion parameters of the 6-axis robot;
the linear motion equivalent parameter calculation module is used for calculating the linear motion equivalent parameters of the 6-axis robot according to the linear motion parameters;
the kinematic model building module is used for building a kinematic model of the 6-axis robot by adopting a standard D-H method so as to obtain D-H parameters of each joint;
the constraint equation set construction module is used for constructing a constraint equation set of the 6-axis robot;
and the constraint equation set solving module is used for solving the constraint equation set by adopting a numerical iteration method.
In a third aspect, an electronic device is provided, the electronic device comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform any of the 6-axis robotic inverse solutions described above.
In a fourth aspect, a non-transitory computer readable storage medium is provided, the non-transitory computer readable storage medium storing computer instructions for causing the computer to perform any of the aforementioned 6-axis robotic inverse solution methods.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages:
according to the 6-axis robot inverse solution method, device and storage medium, joint coordinates of 5 axes of other axes and the pose of the tail end of the robot are solved according to the joint angle appointed by a certain axis, and 6-axis robot inverse kinematics solution is achieved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a schematic flow chart of a 6-axis robot inverse solution method provided by an embodiment of the invention;
fig. 2 is a schematic structural diagram of a 6-axis robot inverse solution device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to the present invention;
FIG. 4 is a schematic diagram of a non-transitory computer readable storage medium according to the present invention;
fig. 5 is a schematic diagram of a 6-axis robot in a 6-axis robot inverse solution method according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a 6-axis robot in a 6-axis robot inverse solution method according to an embodiment of the present invention.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
Fig. 1 is a schematic flow chart of a 6-axis robot inverse solution method provided in an embodiment of the present application.
The application provides a 6-axis robot inverse solution method, which comprises the following steps:
s1: acquiring linear motion parameters of the 6-axis robot;
in this embodiment of the present application, the obtaining the linear motion parameter of the 6-axis robot includes the steps of:
acquiring and analyzing a linear motion program of the 6-axis robot;
acquiring joint coordinates of a motion starting point of the 6-axis robot;
acquiring joint coordinates of a motion end point of the 6-axis robot;
acquiring a homogeneous transformation matrix from a base coordinate system to a flange coordinate system of the 6-axis robot;
and obtaining the homogeneous transformation matrix of the 6-axis robot.
To better illustrate the principles and effects of the present application, consider the example of a 6-joint robot moving linearly in Cartesian space, as shown in FIG. 5, the robot moves from a starting point P a Linear movement to the end point P b The current time is the nth interpolation period, and the point on the robot track is marked as P n The pose and joint angles of 6 axes are known. The next time is the (n+1) th interpolation period, and the point on the track is marked as P n+1 The pose is unknown, the joint angle is known only by 1 axis, and the other 5 axes are unknown, e.g. J 4 The joint angle of the shaft is known, J 1 Shaft, J 2 Shaft, J 3 Shaft, J 5 Shaft, J 6 The angle of the axijoint is unknown. The motion step s is defined as the ratio of the Cartesian distance increment of two adjacent interpolation periods to the total distance from the start point to the end point.
Analyzing a robot linear motion program written by a user to obtain a robot motion starting point P a Joint coordinates q of points (a) Homogeneous transformation matrix T from base coordinate system to flange coordinate system (a) Robot motion end point P b Joint coordinate q of (2) (b) Homogeneous transformation matrix T (b) Wherein q (a) And q (b) Is a 6-dimensional vector, T (a) And T (b) Is a 4 x 4 matrix.
At the nth interpolation period, P n Joint angle q of point (n) Step s (n) Are all of known quantity, P at the (n+1) th interpolation period n+1 Point step size s (n+1) Unknown for joint angle q (n+1) The joint angle of only 1 axis is known, the remaining 5 axes are unknown, e.g. J 4 Joint angle of shaft
Known J 1 Joint angle of shaft->
J 2 Joint angle of shaft->
J 3 Joint angle of shaft->
J 5 Joint angle of shaft->
J 6 Joint angle of shaft->
Are unknown. q (n) And q (n+1) Is a 6-dimensional vector, s (n) Sum s (n+1) Is a scalar. The following expression can be obtained at this time:
s2: calculating the equivalent linear motion parameters of the 6-axis robot according to the linear motion parameters;
in an embodiment of the present application, the calculating the equivalent linear motion parameter of the 6-axis robot according to the linear motion parameter includes the steps of:
acquiring a homogeneous transformation matrix and a homogeneous transformation matrix from a base coordinate system to a flange coordinate system in the linear motion parameters;
calculating an equivalent rotation angle according to the homogeneous transformation matrix from the base coordinate system to the flange coordinate system and the homogeneous transformation matrix;
and calculating an equivalent rotation axis according to the homogeneous transformation matrix from the base coordinate system to the flange coordinate system, the homogeneous transformation matrix and the equivalent rotation angle.
Specifically, note from P a Point motion end point P b The equivalent displacement vector of the linear motion is
The equivalent rotation axis K and the equivalent rotation angle of the posture are θ. Due to T (a) And T (b) Then->
K and θ are both known, and the solution expression is as follows:
wherein acos represents an inverse cosine, a represents a linear motion starting point, and b represents a linear motion ending point;
s3: establishing a kinematic model of the 6-axis robot by adopting a standard D-H method to obtain D-H parameters of each joint;
in this embodiment of the present application, the step of establishing a kinematic model of the 6-axis robot by using a standard D-H method to obtain D-H parameters of each joint includes the steps of:
establishing a joint coordinate system at the axis of each joint of the 6-axis robot;
determining DH parameters of each joint;
and determining DH parameters of the 6-axis robot according to DH parameters of the joints.
As shown in fig. 6, a standard D-H method is used to build a kinematic model of the robot, resulting in D-H parameters for each joint of the robot: d, d i 、a i 、α i Wherein i= (1, 2..6), the method is as follows:
(1) The method for constructing the X axis and the axis Y, Z axis of the joint coordinate system { i-1} is as follows:
Z i-1 indicating the ith joint axis, the positive direction meets the right-hand screw rule; x is X i-1 A common vertical line representing the i-1 th joint axis and i joint axes, the positive direction pointing from the i-1 th joint axis to the i joint axes; y is Y i-1 Representing Z i-1 Cross multiplying X i-1 。
(2) Determination of DH parameters for the ith joint:
the meaning of DH parameters of the ith joint is as follows:
θ i represents the link deflection angle, represents X i-1 Along Z i-1 The axis rotates to X i Is a function of the angle of (2); d, d i Represents the link offset, represents X i-1 Along Z i-1 Axial translation to X i Is a distance of (2); a, a i Indicating the length of the connecting rod, indicating Z i-1 Along X i Axial translation to Z i Is a distance of (2); alpha i Indicating the torsion angle of the connecting rod, indicating Z i-1 Along X i The axis rotates to Z i Is a function of the angle of (a).
(3) Determining DH parameters of the 6-axis robot:
a in the following table 1 、a 2 、a 3 、d 4 、d 6 Are known.
| Ith joint | θ i | d i | a i | |
| 1 | 0 | 0 | a 1 | π/2 |
| 2 | 0 | 0 | a 2 | 0 |
| 3 | 0 | 0 | a 3 | π/2 |
| 4 | 0 | |
0 | π/2 |
| 5 | 0 | 0 | 0 | -π/2 |
| 6 | 0 | |
0 | 0 |
S4: constructing a constraint equation set of the 6-axis robot;
as shown in fig. 6, the robot base coordinate system and the 1 st axis joint coordinate system overlap to {0}, the i-th joint coordinate system is { i-1}, and the robot end flange coordinate system is {6}.
A homogeneous transformation matrix from a base coordinate system {0} to a flange coordinate system {6} can be obtained according to a coordinate transformation method:
wherein,,
representing a homogeneous transformation matrix from the coordinate system { i-1} to the coordinate system { i }, i=1, 2..6,/-for>
The calculation formula of (2) is as follows:
q i the angle i=1, 2..6, d representing the i-th joint i 、a i 、α i See DH parameters in step 3.3.
At the nth interpolation period, P n Joint angle q of point (n) Let q=q, as is known (n) The method comprises the following steps:
q is brought into the formula (6) and the formula (5) to obtain the homogeneous transformation matrix from the time base coordinate system {0} of the nth interpolation period to the flange coordinate system {6}
Record->
The method comprises the following steps:
at the (n+1) th interpolation period, for P n+1 Joint angle q of point (n+1) Let q=q (n+1) The method comprises the following steps:
for q (n+1) Only J 4 Joint angle of shaft
Known J 1 Joint angle of shaft->
J 2 Joint angle of shaft
J 3 Joint angle of shaft->
J 5 Joint angle of shaft->
J 6 Joint angle of shaft->
Unknown, the (n+1) th interpolation period time base coordinate system {0} to flange coordinate system {6} homogeneous transformation matrix } can be obtained by taking formula (8) into formula (6) and formula (5)>
For P n+1 Points, s (n+1) Is an unknown quantity. P (P) n+1 Point is equivalent to P n The point advances along a straight track by a step s (n+1) The process is represented by a homogeneous transformation matrix deltat, and the calculation formula is as follows:
ΔT＝ΔT O *ΔT P (9)
ΔT P representing slave P n Point to P n+1 The position change matrix of the point has the following calculation formula:
ΔT O representing the slave P n Point to P n+1 The gesture change matrix of the point is calculated as
Wherein DeltaR O Equivalent to a rotation Δθ about axis K, this rotation is described as a 3×3 rotation matrix form according to the rodrich formula:
ΔR O ＝I+sin(Δθ)M+(1-cos(Δθ))MM(12)
wherein Δθ=s (n+1) *θ，
K x 、K y 、K z And theta is shown in a formula (4) and is a known quantity.
By introducing the formula (12) into the formula (11) and introducing the formulas (10) and (11) into the formula (9), it is possible to obtain DeltaT, in which the expression of DeltaT is s alone (n+1) Is an unknown quantity.
From P n Point to P n+1 The position and posture change matrix of the point is deltat, and there are:
i.e.
the first three rows of the matrix in equation (14) are all related to the variable s (n+1) 、
The functions of (2) are given by simultaneous equations (13), (14), (7):
theoretically, up to 12 constraint equations are possible according to equation set equation (15), but since the first 3 rows and the first 3 columns of the homogeneous change matrix are rotation matrices, the following relationship is satisfied:
i.e. when the first 3 rows and the first 2 columns of the left matrix are correspondingly equal to the first 3 rows and the first 2 columns of the right matrix, the first 3 rows and the 3 rd columns of the side matrix must be equal to the first 3 rows and the 3 rd columns of the right matrix. Thus, based on the above relationship, a relation to the variable s can be constructed (n+1) 、
Is expressed as follows:
s5: and solving the constraint equation set by adopting a numerical iteration method.
Let X be the variable s to be solved (n+1) 、
The vector of the composition,
solving the constraint equation set by adopting a numerical iteration method, wherein the method comprises the following steps of:
(1) Giving an initial value to X
When n=0, the value of the start point is taken as the initial value of the n+1th interpolation period variable, and the expression is as follows:
if n > 0, the value of the nth interpolation period is taken as the initial value of the variable of the (n+1) th interpolation period, and the expression is as follows:
(2) Bringing X to the left of equation (17) and subtracting the right of equation, assigning d Y The expression is as follows:
(3) Calculating f with respect to variable s (n+1) 、
The expression of Jacobian matrix J is as follows:
(4) The delta deltax of X is calculated as follows:
(5) Judging whether the delta X is within the set precision range, if not, updating the joint angle X, and repeating the steps (2) to (5). The expression for updating the joint angle X is as follows:
X＝X-ΔX (23)
if so, the current value of X is the solution of equation set (17).
(6) Storage variable s (n+1) 、
As the n+2th oneThe initial value of the iterative solution of the interpolation period.
The present application is validated in specific numbers below.
Robot a 1 、a 2 、a 3 、d 4 、d 6 The following are provided:
pose T of linear motion starting point of robot (a) Origin joint q (a) And endpoint pose matrix T (b) The values of (2) are as follows:
q (a) ＝[50 90 20 40 90 60] T (deg)
let n=0, it is expected that from the initial time to the 1 st interpolation period, according to J 4 At maximum speed qdmax of shaft 4 Motion =320 (deg/s), and knowing Δt=0.002(s) in single interpolation period, J in 1 st interpolation period can be easily obtained 4 Joint angle of shaft
According to step S5 (1), the joint angle to sum step value of the starting point is used as the initial value of the variable to be solved at the 1 st interpolation period moment, namely
Bringing the initial value into the steps (2) to (5), and after 11 iterations, the value of the I dY I is smaller than 3.1e-13, so as to obtain the final value of the variable to be solved at the 1 st interpolation period time, wherein the final value is as follows:
the 11-fold values of dY are as follows:
| number of iterations | Error (|dY||value) |
| 1 | 2.23403775327966 |
| 2 | 0.60074467549698 |
| 3 | 0.01564766954654 |
| 4 | 0.00024700770734 |
| 5 | 0.00001419196762 |
| 6 | 0.00000111184023 |
| 7 | 0.00000004756938 |
| 8 | 0.00000000171845 |
| 9 | 0.00000000007578 |
| 10 | 0.00000000000390 |
| 11 | 0.00000000000031 |
The final error was found to be 3.1e-13 by one-step analysis, which was due in part to the floating point number accuracy, independent of the method of the present application.
Thus, q (1) The values of (2) are as follows, then q is stored (1) And is brought into step S4 (3) to obtain the 1 st interpolation period time homogeneous transformation matrix
The method for solving the 2 interpolation period variables is similar, and is not repeated here,
as shown in fig. 2, the present application provides a 6-axis robot inverse solution device, including:
the linear motion parameter acquisition module 10 is used for acquiring the linear motion parameters of the 6-axis robot;
a linear motion equivalent parameter calculation module 20, configured to calculate a linear motion equivalent parameter of the 6-axis robot according to the linear motion parameter;
a kinematic model building module 30 for building a kinematic model of the 6-axis robot by using a standard D-H method to obtain D-H parameters of each joint;
a constraint equation set construction module 40, configured to construct a constraint equation set of the 6-axis robot;
a constraint equation set solving module 50 is configured to solve the constraint equation set by using a numerical iteration method.
The 6-axis robot inverse solution device provided by the application can execute the 6-axis robot inverse solution method provided by the steps.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explanation of the principles of the present invention and are in no way limiting of the invention. Accordingly, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present invention should be included in the scope of the present invention. Furthermore, the appended claims are intended to cover all such changes and modifications that fall within the scope and boundary of the appended claims, or equivalents of such scope and boundary.
Referring now to fig. 3, a schematic diagram of an electronic device 100 suitable for use in implementing embodiments of the present disclosure is shown. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 3 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.
As shown in fig. 3, the electronic device 100 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 101 that may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 102 or a program loaded from a storage means 108 into a Random Access Memory (RAM) 103. In the RAM 103, various programs and data necessary for the operation of the electronic apparatus 100 are also stored. The processing device 101, ROM 102, and RAM 103 are connected to each other by a bus 104. An input/output (I/O) interface 105 is also connected to bus 104.
In general, the following devices may be connected to the I/O interface 105: input devices 106 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; an output device 107 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage devices 108 including, for example, magnetic tape, hard disk, etc.; and a communication device 109. The communication means 109 may allow the electronic device 100 to communicate wirelessly or by wire with other devices to exchange data. While an electronic device 100 having various means is shown in the figures, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via the communication means 109, or from the storage means 108, or from the ROM 102. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by the processing device 101.
Referring now to fig. 4, there is shown a schematic diagram of a computer readable storage medium suitable for use in implementing embodiments of the present disclosure, the computer readable storage medium storing a computer program capable of implementing a 6-axis robot inverse solution method as described in any of the above when executed by a processor.
According to the 6-axis robot inverse solution method, device and storage medium, joint coordinates of 5 axes of other axes and the pose of the tail end of the robot are solved according to the joint angle appointed by a certain axis, and 6-axis robot inverse kinematics solution is achieved.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is only a specific embodiment of the invention to enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A 6-axis robotic inverse solution method, the method comprising the steps of:
acquiring linear motion parameters of the 6-axis robot;
calculating the equivalent linear motion parameters of the 6-axis robot according to the linear motion parameters;
establishing a kinematic model of the 6-axis robot by adopting a standard D-H method to obtain D-H parameters of each joint;
constructing a constraint equation set of the 6-axis robot;
and solving the constraint equation set by adopting a numerical iteration method.
2. The 6-axis robot inverse solution method according to claim 1, wherein the acquiring the linear motion parameters of the 6-axis robot includes the steps of:
acquiring and analyzing a linear motion program of the 6-axis robot;
acquiring joint coordinates of a motion starting point of the 6-axis robot;
acquiring joint coordinates of a motion end point of the 6-axis robot;
acquiring a homogeneous transformation matrix from a base coordinate system to a flange coordinate system of the 6-axis robot;
and obtaining the homogeneous transformation matrix of the 6-axis robot.
3. The 6-axis robot inverse solution method according to claim 1, wherein the calculating the linear motion equivalent parameter of the 6-axis robot according to the linear motion parameter comprises the steps of:
acquiring a homogeneous transformation matrix and a homogeneous transformation matrix from a base coordinate system to a flange coordinate system in the linear motion parameters;
calculating an equivalent rotation angle according to the homogeneous transformation matrix from the base coordinate system to the flange coordinate system and the homogeneous transformation matrix;
and calculating an equivalent rotation axis according to the homogeneous transformation matrix from the base coordinate system to the flange coordinate system, the homogeneous transformation matrix and the equivalent rotation angle.
4. The 6-axis robot inverse solution method according to claim 1, wherein the expression of the equivalent rotation angle is:
wherein acos represents an inverse cosine, a represents a linear motion starting point, and b represents a linear motion ending point;
5. the 6-axis robotic inverse solution of claim 1, wherein the expression of the equivalent rotation axis is:
wherein θ represents an equivalent rotation angle,
6. the 6-axis robot inverse solution method according to claim 1, wherein the establishing a kinematic model of the 6-axis robot using a standard D-H method to obtain D-H parameters of each joint comprises the steps of:
establishing a joint coordinate system at the axis of each joint of the 6-axis robot;
determining DH parameters of each joint;
and determining DH parameters of the 6-axis robot according to DH parameters of the joints.
7. The 6-axis robotic inverse solution of claim 6, wherein said determining DH parameters for each of said joints comprises the steps of:
determining a link offset angle of each of the joints;
determining a link bias for each of the joints;
determining the length of a connecting rod of each joint;
determining the torsion angle of the connecting rod of each joint.
8. A 6-axis robotic inverse solution apparatus, comprising:
the linear motion parameter acquisition module is used for acquiring the linear motion parameters of the 6-axis robot;
the linear motion equivalent parameter calculation module is used for calculating the linear motion equivalent parameters of the 6-axis robot according to the linear motion parameters;
the kinematic model building module is used for building a kinematic model of the 6-axis robot by adopting a standard D-H method so as to obtain D-H parameters of each joint;
the constraint equation set construction module is used for constructing a constraint equation set of the 6-axis robot;
and the constraint equation set solving module is used for solving the constraint equation set by adopting a numerical iteration method.
9. An electronic device, the electronic device comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the 6-axis robot inverse solution of any of the preceding claims 1-7.
10. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the 6-axis robotic inverse solution method of any one of the preceding claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211730890.2A CN116214504A (en) | 2022-12-30 | 2022-12-30 | 6-axis robot inverse solution method, device and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211730890.2A CN116214504A (en) | 2022-12-30 | 2022-12-30 | 6-axis robot inverse solution method, device and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116214504A true CN116214504A (en) | 2023-06-06 |
Family
ID=86575960
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211730890.2A Pending CN116214504A (en) | 2022-12-30 | 2022-12-30 | 6-axis robot inverse solution method, device and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116214504A (en) |
-
2022
- 2022-12-30 CN CN202211730890.2A patent/CN116214504A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Karbasizadeh et al. | Experimental dynamic identification and model feed-forward control of Novint Falcon haptic device | |
| US20070242073A1 (en) | Robot simulation apparatus | |
| JP2006293826A (en) | Apparatus for correcting robot program | |
| CN113211445B (en) | Robot parameter calibration method, device, equipment and storage medium | |
| JP2009274148A (en) | Simulation device | |
| CN114692425B (en) | Welding robot simulation method, system, equipment and medium of digital twin technology | |
| CN113119081B (en) | Inverse solution method and device for arm angle interval of mechanical arm and terminal equipment | |
| CN112959326A (en) | Method and device for solving positive kinematics of robot, readable storage medium and robot | |
| JP2993341B2 (en) | Simulation method of wire rod | |
| Lin et al. | Analytical solution for inverse kinematics using dual quaternions | |
| CN112476435B (en) | Calibration method and calibration device for gravity acceleration direction and storage medium | |
| CN116460859B (en) | SCARA robot motion compensation method, SCARA robot motion compensation device, SCARA robot motion compensation equipment and SCARA robot motion compensation storage medium | |
| CN116214504A (en) | 6-axis robot inverse solution method, device and storage medium | |
| CN115771146A (en) | Robot posture interpolation method and device and storage medium | |
| CN101870104A (en) | Manipulator inverse moving method | |
| CN116214510A (en) | Mechanical arm admittance control method and system | |
| JP5316395B2 (en) | Robot spring constant identification method and robot spring constant identification apparatus | |
| CN111801630B (en) | Positioner axis coordinate system calibration method, robot system and storage device | |
| CN108956003B (en) | Method and device for calibrating six-dimensional sensor posture in real time and terminal equipment | |
| Zhao et al. | Model and simulation of the mitsubishi rv-m1 robot using matlab | |
| Tang et al. | A step identification method for kinematic calibration of a 6-DOF serial robot | |
| CN116175560A (en) | Industrial robot impedance control method, industrial robot and storage medium | |
| CN116117806A (en) | Multi-dimensional simultaneous teaching motion control method for industrial robot, industrial robot and storage medium | |
| CN113532352B (en) | Six-degree-of-freedom displacement platform position detection method | |
| CN116047965A (en) | Synchronous cooperative control method and device among multiple robots and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |