WO2019196229A1 - 一种任意三关节的逆运动学求解方法 - Google Patents
一种任意三关节的逆运动学求解方法 Download PDFInfo
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- WO2019196229A1 WO2019196229A1 PCT/CN2018/095639 CN2018095639W WO2019196229A1 WO 2019196229 A1 WO2019196229 A1 WO 2019196229A1 CN 2018095639 W CN2018095639 W CN 2018095639W WO 2019196229 A1 WO2019196229 A1 WO 2019196229A1
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- the invention belongs to the field of robot inverse kinematics, and particularly relates to an inverse kinematic solution method of an arbitrary three joints.
- the core problem of the inverse solution is to solve the third-order sub-problem, because the general high-dimensional robot can not directly obtain its inverse solution, and often solves the problem of simplifying it to the third-order or less by using the elimination method.
- the current third-order sub-problems are solved by further simplification to obtain second-order sub-problems and first-order sub-problems. There are few methods for directly solving them. Even if such methods are solved, it is very complicated, even There is no closed solution.
- the second-order sub-problems currently used are solved by special geometric relations: parallel, intersecting, vertical and other constraints, but in practice these geometric relationships are difficult to guarantee, and these methods also limit the design of the mechanical structure of the robot. Therefore, there is a kind of direct solution to the third-order sub-problem, and it is of great theoretical and practical significance to obtain a unified solution method that is not subject to the robot geometry.
- the present invention proposes an inverse kinematics solving method for an arbitrary three joints, which is reasonable in design, overcomes the deficiencies of the prior art, and has good effects.
- Step 1 Solve ⁇ 1 and ⁇ 3
- spin parameter Is the homogeneous coordinate of p,q, For the motion of the i-th joint, Including the axis direction vector of the joint axis And a little on the shaft ⁇ i and r i.
- spin parameter Is the homogeneous coordinate of p,q, For the motion of the i-th joint, Including the axis direction vector of the joint axis And a little on the shaft ⁇ i and r i.
- I 3 ⁇ 3 is a 3 ⁇ 3 unit matrix
- Is a rotation matrix which can be expressed as Rodrigues:
- a 1 , b 1 , c 1 , d 1 , a 2 , b 2 , c 2 , d 2 , k 1 , k 2 are known parameters;
- m 1 (f s1 +v s1 ) 2 +(f c1 +v c1 ) 2 -1
- the solution of t(12) quadratic equation can be used to obtain the solution of t.
- the value of ⁇ 3 can be further determined:
- ⁇ 1 a tan 2(f s1 -u s1 sin ⁇ 3 -v s1 cos ⁇ 3 , f c1 -u c1 sin ⁇ 3 -v c1 cos ⁇ 3 ) (14);
- Step 2 Solve ⁇ 2
- the implementation is simple; only need to solve a one-fourth equation and two arctangent functions to obtain a closed solution of the three joints;
- Figure 1 is a schematic diagram of the inverse of the RRR of any relationship.
- Step 1 Solve ⁇ 1 and ⁇ 3
- spin parameter Is the homogeneous coordinate of p,q, For the motion of the i-th joint, Including the axis direction vector of the joint axis And a little on the shaft ⁇ i and r i.
- spin parameter Is the homogeneous coordinate of p,q, For the motion of the i-th joint, Including the axis direction vector of the joint axis And a little on the shaft ⁇ i and r i.
- I 3 ⁇ 3 is a 3 ⁇ 3 unit matrix
- Is a rotation matrix which can be expressed as Rodrigues:
- a 1 , b 1 , c 1 , d 1 , a 2 , b 2 , c 2 , d 2 , k 1 , k 2 are known parameters;
- m 1 (f s1 +v s1 ) 2 +(f c1 +v c1 ) 2 -1
- the solution of t(12) quadratic equation can be used to obtain the solution of t.
- the value of ⁇ 3 can be further determined:
- ⁇ 1 a tan 2(f s1 -u s1 sin ⁇ 3 -v s1 cos ⁇ 3 , f c1 -u c1 sin ⁇ 3 -v c1 cos ⁇ 3 ) (14);
- Step 2 Solve ⁇ 2
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Abstract
一种任意三关节的逆运动学求解方法,属于机器人逆运动学领域,在指数积模型的基础上,利用简单的几何约束方程、旋量理论的基本性质以及旋转矩阵的Rodrigues表达,将问题转化成关于三角函数的线性方程进行求解,实现了任意三个关节轴线的逆解问题,使机器人逆解的求解不再局限于相交、平行、垂直的约束关系中,可根据需求设计结构,安装或加工中存在的误差也不会影响最终的计算结果。一种灵活、方便、实用的机器人逆解方法,为机器人在实际中的应用提供了方便。
Description
本发明属于机器人逆运动学领域,具体涉及一种任意三关节的逆运动学求解方法。
在机器人指数积模型中,其逆解的核心问题就是求解三阶子问题,因为一般的高维机器人无法直接获得其逆解,往往采用消元方法将其化简为三阶以下的问题来解决,而目前的三阶子问题都是通过进一步化简得到二阶子问题和一阶子问题来求解,很少有直接对其进行求解的方法,即使有这样的方法求解也是很复杂的,甚至得不到封闭解。而目前所采用的二阶子问题都是利用了特殊的几何关系:平行、相交、垂直等约束条件来求解,但实际中这些几何关系难以保证,同时这些方法也限制了机器人机械结构的设计。所以,能够有一种直接针对三阶子问题进行求解,得到一种统一的、不受机器人几何结构的约束求解方法具有重要的理论意义和实际意义。
发明内容
针对现有技术中存在的上述技术问题,本发明提出了一种任意三关节的逆运动学求解方法,设计合理,克服了现有技术的不足,具有良好的效果。
为了实现上述目的,本发明采用如下技术方案:
一种任意三关节的逆运动学求解方法,包括以下步骤:
步骤1:求解θ
1和θ
3
空间点p绕轴ω
3旋转角度θ
3到点p
1,再绕轴ω
2旋转角度θ
2到点p
2,最后点p
2绕轴ω
1旋转角度θ
1到q点,这一过程可表示为:
根据旋量理论的基本性质可得:
a
1sin θ
1+b
1cos θ
1+c
1sin θ
3+d
1cos θ
3=k
1 (6);
a
2sin θ
1+b
2cos θ
1+c
2sin θ
3+d
2cos θ
3=k
2 (7);
其中,a
1,b
1,c
1,d
1,a
2,b
2,c
2,d
2,k
1,k
2均为已知参数;
当a
1b
2-b
1a
2≠0,对式(6)、(7)进行化简可得:
其中,
当c
1d
2-d
1c
2≠0时,公式(6)和(7)可整理为:
其中,公式(10)中的系数可根据公式(9)中的a,b分别与c,d互换,下标不变得到:
根据三角函数性质,将式(8)带入sin
2θ
1+cos
2θ
1=1中,整理可得:
(f
s1-u
s1sin θ
3-v
s1cos θ
3)
2+(f
c1-u
c1sin θ
3-v
c1cos θ
3)
2=1 (11);
m
1t
4+m
2t
3+m
3t
2+m
4t+m
5=0 (12);
其中,
m
1=(f
s1+v
s1)
2+(f
c1+v
c1)
2-1
m
2=-4[(f
s1+v
s1)u
s1+(f
c1+v
c1)u
c1]
m
4=-4[(f
s1-v
s1)u
s1+(f
c1-v
c1)u
c1]
m
5=(f
s1-v
s1)
2+(f
c1-v
c1)
2-1
根据费拉里法求解式(12)一元四次方程可得t的解,根据角度取值范围,可进一步确定θ
3的值:
θ
3=2arc tan(t) (13);
将θ
3的值带入公式(8),可得θ
1:
θ
1=a tan 2(f
s1-u
s1sin θ
3-v
s1cos θ
3,f
c1-u
c1sin θ
3-v
c1cos θ
3) (14);
步骤2:求解θ
2
x
2sin θ
2+y
2cos θ
2=z
2 (16);
其中,
则可得θ
2的值:
本发明所带来的有益技术效果:
1、计算效率高;直接针对三关节机器人进行求解,不需要进行降阶来实现;
2、实现简单;只需要求解一个一元四次方程和两个反正切函数获得三个关节的封闭解;
3、应用范围广;可应用于任意关系的RRR机器人中,不需要考虑其轴线之间的几何关系。
图1为任意关系的RRR逆解示意图。
下面结合附图以及具体实施方式对本发明作进一步详细说明:
任意关系的RRR逆解如图1所示。
一种任意三关节的逆运动学求解方法,包括以下步骤:
步骤1:求解θ
1和θ
3
空间点p绕轴ω
3旋转角度θ
3到点p
1,再绕轴ω
2旋转角度θ
2到点p
2,最后点p
2绕轴ω
1旋转角度θ
1到q点,这一过程可表示为:
根据旋量理论的基本性质可得:
a
1sin θ
1+b
1cos θ
1+c
1sin θ
3+d
1cos θ
3=k
1 (6);
a
2sin θ
1+b
2cos θ
1+c
2sin θ
3+d
2cos θ
3=k
2 (7);
其中,a
1,b
1,c
1,d
1,a
2,b
2,c
2,d
2,k
1,k
2均为已知参数;
当a
1b
2-b
1a
2≠0,对式(6)、(7)进行化简可得:
其中,
当c
1d
2-d
1c
2≠0时,公式(6)和(7)可整理为:
其中,公式(10)中的系数可根据公式(9)中的a,b分别与c,d互换,下标不变得到:
根据三角函数性质,将式(8)带入sin
2θ
1+cos
2θ
1=1中,整理可得:
(f
s1-u
s1sin θ
3-v
s1cos θ
3)
2+(f
c1-u
c1sin θ
3-v
c1cos θ
3)
2=1 (11);
m
1t
4+m
2t
3+m
3t
2+m
4t+m
5=0 (12);
其中,
m
1=(f
s1+v
s1)
2+(f
c1+v
c1)
2-1
m
2=-4[(f
s1+v
s1)u
s1+(f
c1+v
c1)u
c1]
m
4=-4[(f
s1-v
s1)u
s1+(f
c1-v
c1)u
c1]
m
5=(f
s1-v
s1)
2+(f
c1-v
c1)
2-1
根据费拉里法求解式(12)一元四次方程可得t的解,根据角度取值范围,可进一步确定θ
3的值:
θ
3=2arc tan(t) (13);
将θ
3的值带入公式(8),可得θ
1:
θ
1=a tan 2(f
s1-u
s1sin θ
3-v
s1cos θ
3,f
c1-u
c1sin θ
3-v
c1cos θ
3) (14);
步骤2:求解θ
2
x
2sin θ
2+y
2cos θ
2=z
2 (16);
其中,
则可得θ
2的值:
当然,上述说明并非是对本发明的限制,本发明也并不仅限于上述举例,本技术领域的技术人员在本发明的实质范围内所做出的变化、改型、添加或替换,也应属于本发明的保护范围。
Claims (1)
- 一种任意三关节的逆运动学求解方法,其特征在于:包括以下步骤:步骤1:求解θ 1和θ 3空间点p绕轴ω 3旋转角度θ 3到点p 1,再绕轴ω 2旋转角度θ 2到点p 2,最后点p 2绕轴ω 1旋转角度θ 1到q点,这一过程可表示为:根据旋量理论的基本性质可得:a 1 sinθ 1+b 1 cosθ 1+c 1 sinθ 3+d 1 cosθ 3=k 1 (6);a 2 sinθ 1+b 2 cosθ 1+c 2 sinθ 3+d 2 cosθ 3=k 2 (7);其中,a 1,b 1,c 1,d 1,a 2,b 2,c 2,d 2,k 1,k 2均为已知参数;当a 1b 2-b 1a 2≠0,对式(6)、(7)进行化简可得:其中,当c 1d 2-d 1c 2≠0时,公式(6)和(7)可整理为:其中,公式(10)中的系数可根据公式(9)中的a,b分别与c,d互换,下标不变得到:根据三角函数性质,将式(8)带入sin 2θ 1+cos 2θ 1=1中,整理可得:(f s1-u s1sinθ 3-v s1cosθ 3) 2+(f c1-u c1sinθ 3-v c1cosθ 3) 2=1 (11);m 1t 4+m 2t 3+m 3t 2+m 4t+m 5=0 (12);其中,m 1=(f s1+v s1) 2+(f c1+v c1) 2-1m 2=-4[(f s1+v s1)u s1+(f c1+v c1)u c1]m 4=-4[(f s1-v s1)u s1+(f c1-v c1)u c1]m 5=(f s1-v s1) 2+(f c1-v c1) 2-1根据费拉里法求解式(12)一元四次方程可得t的解,根据角度取值范围,可进一步确定θ 3的值:θ 3=2arc tan(t) (13);将θ 3的值带入公式(8),可得θ 1:θ 1=a tan2(f s1-u s1sinθ 3-v s1cosθ 3,f c1-u c1sinθ 3-v c1cosθ 3) (14);步骤2:求解θ 2x 2sinθ 2+y 2cosθ 2=z 2 (16);其中,则可得θ 2的值:
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CN106228260A (zh) * | 2016-01-26 | 2016-12-14 | 西北工业大学 | 一种平面三自由度空间机器人逆运动学求解方法 |
CN106845037A (zh) * | 2017-03-21 | 2017-06-13 | 山东科技大学 | 一种五自由度串联机器人的逆运动学通用求解方法 |
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CN106228260A (zh) * | 2016-01-26 | 2016-12-14 | 西北工业大学 | 一种平面三自由度空间机器人逆运动学求解方法 |
CN106845037A (zh) * | 2017-03-21 | 2017-06-13 | 山东科技大学 | 一种五自由度串联机器人的逆运动学通用求解方法 |
CN106991277A (zh) * | 2017-03-21 | 2017-07-28 | 山东科技大学 | 一种任意关系的二阶子问题逆运动学求解方法 |
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CN115741672A (zh) * | 2022-10-21 | 2023-03-07 | 杭州邦杰星医疗科技有限公司 | 一种基于刚体变换的dh推导方法 |
CN115741672B (zh) * | 2022-10-21 | 2024-04-19 | 杭州邦杰星医疗科技有限公司 | 一种基于刚体变换的dh推导方法 |
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