WO2019108002A1 - Procédé permettant de calculer un angle d'articulation d'un robot articulé - Google Patents

Procédé permettant de calculer un angle d'articulation d'un robot articulé Download PDF

Info

Publication number
WO2019108002A1
WO2019108002A1 PCT/KR2018/015042 KR2018015042W WO2019108002A1 WO 2019108002 A1 WO2019108002 A1 WO 2019108002A1 KR 2018015042 W KR2018015042 W KR 2018015042W WO 2019108002 A1 WO2019108002 A1 WO 2019108002A1
Authority
WO
WIPO (PCT)
Prior art keywords
joint
axis
angle
robot
calculating
Prior art date
Application number
PCT/KR2018/015042
Other languages
English (en)
Korean (ko)
Inventor
안희성
김윤구
이재원
Original Assignee
(주)오토로보틱스
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by (주)오토로보틱스 filed Critical (주)오토로보틱스
Publication of WO2019108002A1 publication Critical patent/WO2019108002A1/fr

Links

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
    • B25J9/1602—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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • 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
    • 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
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control

Definitions

  • the present invention relates to a method of calculating a joint angle of a joint robot, and more particularly, to a joint robot capable of calculating a joint angle of a joint robot by deriving a general sub-problem equation using a characteristic of a skew- And a method of calculating the joint angle of the joint.
  • the objective according to one embodiment is to calculate the plurality of joint angles using a general sub-problem equation incorporating sub-problems 2 and 3 according to the sequence of joints without calculating by Sub-problems 2 and 3, And to provide a joint angle calculation method of a joint robot which can be improved.
  • q wy and q wx may be substituted with the wrist position coordinates of the six-axis joint robot.
  • the step of calculating the fourth joint angle and the fifth joint angle of the six-axis joint robot taking the twist angle of the fourth joint axis vector and the fifth joint axis vector of the six-
  • a second intersection coordinate of a circle centered on the fourth joint axis vector and a circle centered on the fifth joint axis vector P a2 a second intersection coordinate of a circle centered on the fourth joint axis vector and a circle centered on the fifth joint axis vector P a2 )
  • calculating a fifth joint angle from a rotation angle when the position coordinate of the fifth joint rotates at a second intersection point coordinate ( Pa2 ) with respect to the fifth joint axis vector The coordinates (P a2 ) are calculated by the following equation,
  • the method of calculating the joint angle of the articulated robot it is possible to calculate the joint angle with the sub-problem 2 and 3 according to the order of the joint without calculation by the sub-problem 2 and 3, And the intuitiveness can be improved.
  • ? 1 and? 1 can be expressed as follows from FIGS. 4 and 5, respectively.
  • Sub-problem 1 can then simultaneously calculate the rotation angles ( ⁇ 1 , ⁇ 2 ).
  • ⁇ 1 , ⁇ 1, and ⁇ 1 are functions of two axis vectors, for example, the twist angles of the first axis vector and the second axis vector, when the two axis vectors are parallel and perpendicular, Can be arranged.
  • a plurality of joint axis vectors and end point position coordinates of the six-axis articulated robot are input (S10).
  • the step of calculating the second joint angle and the third joint angle of the six-axis joint robot in consideration of the twist angle of the second joint axis vector and the third joint axis vector of the six- Calculating a coordinate (P a1 ) of an intersection of a circle centered on a vector and a circle centered on a third joint axis vector, calculating a coordinate (P a1 ) of a circle centered on the first joint coordinate vector rotation when the stage and relative to the third joint axis vector for calculating a second joint angle from the rotation angle at the time of rotation by P a1) the position coordinates of the third joint to rotate at a first intersection point coordinates (P a1) each And calculating a third joint angle from the third joint angle.
  • the second joint axis vector is substituted for S 2 ,
  • S 1 is assigned a second joint axis vector
  • the step of calculating the fourth joint angle and the fifth joint angle of the six-axis joint robot in consideration of the twist angle of the fourth joint axis vector and the fifth joint axis vector of the six- Calculating a second intersection coordinate ( Pa2 ) of a circle centered on a circle centered on a vector and a fifth joint axis vector, calculating a position coordinate of a fourth joint based on the fourth joint axis vector as a second intersection coordinate rotation at which the step of calculating the fourth joint from the rotation angle and the position coordinates of the fifth joint relative to the fifth joint axis vector at the time of rotation by (P a2) can rotate to the second intersection coordinates (P a2) And calculating a fifth joint angle from the angle.
  • the second intersection point coordinate ( Pa2 ) can be calculated by the following equation.
  • gamma 1 Can be substituted.
  • FIG. 8E shows a fifth articulation (Rear / Up / Nonflip) of a six-axis articulated robot in which the first joint angle? 1 is 180 degrees, the second joint angle? 2 is -85.6 degrees, The angle ⁇ 3 is -1.4 °, the fourth joint angle ⁇ 4 is 180 °, the fifth joint angle ⁇ 5 is -158.3 °, and the sixth joint angle ⁇ 6 is 0 °.
  • 8F is a sixth posture (Rear / Up / Flip) of the six-axis articulated robot in which the first joint angle? 1 is 180 degrees, the second joint angle? 2 is -85.6 degrees, The angle ⁇ 3 is -1.4 °, the fourth joint angle ⁇ 4 is 0 °, the fifth joint angle ⁇ 5 is 158.3 ° and the sixth joint angle ⁇ 6 is 180 °.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

La présente invention concerne un procédé permettant de calculer un angle d'articulation d'un robot articulé, selon un mode de réalisation, qui peut comprendre les étapes consistant : à recevoir une pluralité de vecteurs d'axe d'articulation et des coordonnées de position de point d'extrémité d'un robot articulé à six axes ; à calculer des coordonnées de position de poignet du robot articulé à six axes à partir des coordonnées de position de point d'extrémité du robot articulé à six axes ; à calculer géométriquement un premier angle d'articulation du robot articulé à six axes ; à calculer un deuxième angle d'articulation et un troisième angle d'articulation du robot articulé à six axes en prenant en considération un angle d'inclinaison d'un deuxième vecteur d'axe d'articulation et d'un troisième vecteur d'axe d'articulation du robot articulé à six axes ; à calculer un quatrième angle d'articulation et un cinquième angle d'articulation du robot articulé à six axes en prenant en considération un angle d'inclinaison d'un quatrième vecteur d'axe d'articulation et d'un cinquième vecteur d'axe d'articulation du robot articulé à six axes ; et à calculer géométriquement un sixième angle d'articulation du robot articulé à six axes.
PCT/KR2018/015042 2017-11-30 2018-11-30 Procédé permettant de calculer un angle d'articulation d'un robot articulé WO2019108002A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2017-0163329 2017-11-30
KR1020170163329A KR101985328B1 (ko) 2017-11-30 2017-11-30 관절 로봇의 관절각 산출 방법

Publications (1)

Publication Number Publication Date
WO2019108002A1 true WO2019108002A1 (fr) 2019-06-06

Family

ID=66664174

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2018/015042 WO2019108002A1 (fr) 2017-11-30 2018-11-30 Procédé permettant de calculer un angle d'articulation d'un robot articulé

Country Status (2)

Country Link
KR (1) KR101985328B1 (fr)
WO (1) WO2019108002A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102395246B1 (ko) * 2019-11-18 2022-05-09 영남대학교 산학협력단 6축 협업 관절로봇의 회전각 산출 방법

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62193786A (ja) * 1986-02-17 1987-08-25 株式会社安川電機 ロボツトの制御方法
JPH05181515A (ja) * 1991-12-27 1993-07-23 Komatsu Ltd 多関節ロボットにおける軸角度の計算方法
KR100964961B1 (ko) * 2009-02-25 2010-06-21 한국기계연구원 로봇의 직접교시 방법
KR20100077376A (ko) * 2008-12-29 2010-07-08 (주)다사로봇 2축 관절 로봇의 관절각 산출 시스템

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101713195B1 (ko) * 2014-03-28 2017-03-07 예창우 로봇의 관절각 산출 시스템 및 그 방법

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62193786A (ja) * 1986-02-17 1987-08-25 株式会社安川電機 ロボツトの制御方法
JPH05181515A (ja) * 1991-12-27 1993-07-23 Komatsu Ltd 多関節ロボットにおける軸角度の計算方法
KR20100077376A (ko) * 2008-12-29 2010-07-08 (주)다사로봇 2축 관절 로봇의 관절각 산출 시스템
KR100964961B1 (ko) * 2009-02-25 2010-06-21 한국기계연구원 로봇의 직접교시 방법

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
MANIPULATOR INVERSE KINEMATICS, December 1997 (1997-12-01), Retrieved from the Internet <URL:http://ace3.yc.ac.kr/mecha/rel/data/chap4.htm> [retrieved on 20190125] *

Also Published As

Publication number Publication date
KR101985328B1 (ko) 2019-06-04

Similar Documents

Publication Publication Date Title
WO2016144057A1 (fr) Module de doigt à espace adaptatif et dispositif de préhension le comprenant
WO2015156469A1 (fr) Appareil d&#39;émission en trois dimensions (3d)
WO2013043004A2 (fr) Appareil et procédé de commande de la rotation d&#39;un écran dans un terminal portable
WO2017069456A1 (fr) Doigt robotisé prothétique à adaptation de forme d&#39;objet
WO2021049785A1 (fr) Dispositif électronique permettant le coulissement
WO2015183049A1 (fr) Système de poursuite optique et procédé de calcul de posture de partie marqueur dans un système de poursuite optique
WO2019108002A1 (fr) Procédé permettant de calculer un angle d&#39;articulation d&#39;un robot articulé
WO2021162232A1 (fr) Micro-robot pour chirurgie laparoscopique
WO2011065697A2 (fr) Dispositif robotique permettant de mesurer des ondes de pouls à l&#39;aide d&#39;un télémètre à laser et procédé de mesure d&#39;ondes de pouls utilisant ce dispositif
WO2018214147A1 (fr) Procédé et système d&#39;étalonnage de robot, robot et support de stockage
EP2999573A1 (fr) Robot
WO2013065955A1 (fr) Dispositif et procédé pour commander un mouvement de tissage en temps réel
WO2015156470A1 (fr) Robot médical
CN105612468A (zh) 遥控器及其手柄结构、uav的控制方法
WO2014171642A1 (fr) Procédé pour former un mécanisme actionné de façon redondante et système de distribution de force d&#39;actionneur
WO2022055185A1 (fr) Élément élastique et dispositif d&#39;affichage le comprenant
WO2017000360A1 (fr) Circuit d&#39;attaque de balayage
WO2021071030A1 (fr) Dispositif de détection et manipulateur de robot le comprenant
WO2020263040A1 (fr) Appareil de tomodensitométrie et procédé de tomodensitométrie utilisant une pluralité de sources de lumière
WO2018021763A1 (fr) Dispositif de suspension multidirectionnel pour l&#39;entraînement à la marche
WO2021085742A1 (fr) Système de commande de servomoteur et procédé de commande correspondant
WO2011149300A2 (fr) Module d&#39;appareil de prise de vue monté sur un actionneur micro-électro-mécanique ayant une compensation d&#39;affaissement et procédé de compensation d&#39;affaissement l&#39;utilisant
WO2020135021A1 (fr) Procédé de protection contre les surintensités, panneau d&#39;affichage et appareil de protection contre les surintensités
WO2020032466A1 (fr) Câble comprenant des éléments de support à articulations multiples
WO2023027444A1 (fr) Système et procédé de prédiction de propriétés physiques d&#39;un matériau multicouche

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18883442

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18883442

Country of ref document: EP

Kind code of ref document: A1