WO2020034418A1 - 基于轴不变量及dh参数1r/2r/3r逆解建模方法 - Google Patents
基于轴不变量及dh参数1r/2r/3r逆解建模方法 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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- the invention relates to a multi-axis robot attitude inverse modeling and calculation method, and belongs to the technical field of robots.
- the absolute positioning and orientation accuracy of the robot system is much lower than the repeat accuracy of the system due to machining and assembly errors.
- the DH system is established and the DH parameters The determination process is cumbersome.
- the system has a high degree of freedom, the reliability of completing the process manually is low. Therefore, it is necessary to solve the problem of determining the D-H system and D-H parameters of the robot system by a computer.
- the high-precision D-H system and D-H parameters are the basis for the robot to perform accurate operations, and also the basis for the development of "Teaching and Playback" robots to autonomous robots.
- the technical problem to be solved by the present invention is to provide an inverse attitude modeling and solving method of a 1R / 2R / 3R robot based on an axis invariant and D-H parameters, avoiding measurement errors caused by the introduction of an intermediate coordinate system, and ensuring the accuracy of the inverse attitude solution.
- the present invention adopts the following technical solutions:
- a 1R / 2R / 3R inverse solution modeling method based on axis invariants and DH parameters which is characterized by:
- the multi-axis machine device includes a rod set and a joint set, and the rods in the rod set are combined through the joints of the joint set to convert the joint set into corresponding An axis set, where a joint in the joint set corresponds to a sub-axis set of the axis set, and the axis of the axis set includes two types of translational and rotational axes;
- the connecting rod is measured.
- the axis vector of the rod l During kinematics, the axis vector Is an invariant; axis vector And joint variables Uniquely determine the rotation relationship of the motion pair;
- Equation (5) is about N-dimensional second-order polynomial equations; power expressions in expressions Represents the xth power of ⁇ ; Delimiter Is axis invariant Cross product matrix; 1 is a three-dimensional identity matrix; Vector represents the axis vector;
- Equation (6) is about with Multivariable linear equation is an axis invariant Second-order polynomial of Is the rotation transformation matrix; given the natural zero vector l l lS as Zero reference, and Respectively the zero vector and the radial vector; Equation (6) is Symmetry Represents zero-axis tensor, antisymmetric part Represents the radial axial tensor, and the axial outer product tensor, respectively Orthogonal to determine the three-dimensional natural axis space;
- Equation (6) is expressed as
- i Q n represents the attitude and the axis vector Is axis invariant Cross product matrix.
- the 2R pointing problem based on the axis invariant is converted into the 2R pointing problem based on the D-H parameter.
- the calculation steps of the inverse directional solution are:
- the corresponding DH system is recorded as According to the numbering convention of the DH coordinate system, the motion pair The corresponding axis is written as That is, the indicators in the DH system are used to follow the parent indicators, and the parameters in the natural coordinate system are different from the child indicators; the rotation angle is When defining: among them Is by the shaft Twist angle to axis l′ z;
- the factors (38 and 42) may not satisfy the second line of equation (36). And ⁇ l are only possible solutions; then the possible solutions are substituted into the second line of equation (36), and if they still hold true solutions are obtained.
- the method of the present invention is based on the natural coordinate system, and solves the inverse 1R attitude inverse solutions based on axis invariants, and the 2R and 3R inverse attitude solutions based on axis invariants and DH parameters.
- the correctness of the method It is characterized by a simple chain symbol system and the representation of the axis invariant, with the function of pseudo code, accurate physical meaning, and ensuring the reliability of the engineering implementation; based on the structural parameters of the axis invariant, there is no need to establish an intermediate coordinate system, The measurement error caused by the introduction of the intermediate coordinate system is avoided, and the accuracy of the inverse attitude solution is guaranteed.
- the universality of engineering applications is guaranteed.
- Figure 6 2DOF mast of the lunar inspector.
- the natural coordinate system is not only simple and convenient, but also helps to improve the accuracy of engineering measurement and enhance the versatility of modeling.
- the difficulty of modeling kinematics and dynamics of a multi-axis system is mainly due to the existence of rotation, and the key to rotation description is the rotation axis.
- the present invention studies the inverse attitude modeling and solving problems of 1R, 2R, and 3R. The main purpose is to lay the foundation for the subsequent elaboration of inverse kinematics of multi-axis systems based on axis invariants.
- Natural coordinate axis The unit reference axis with a fixed origin that is coaxial with the motion axis or measurement axis is called the natural coordinate axis, also known as the natural reference axis.
- Natural coordinate system As shown in Figure 1, if the multi-axis system D is at zero position, all Cartesian body coordinate systems have the same direction, and the origin of the body coordinate system is on the axis of the motion axis, then the coordinate system is a natural coordinate system. , Referred to as the natural coordinate system.
- the advantages of the natural coordinate system are: (1) the coordinate system is easy to determine; (2) the joint variables at the zero position are zero; (3) the system attitude at the zero position is consistent; (4) it is not easy to introduce a measurement error.
- the coordinate axis is a reference direction with a zero position and a unit scale. It can describe the position of translation in that direction, but it cannot fully describe the rotation angle around the direction, because the coordinate axis itself does not have a radial reference direction, that is There is a zero position that characterizes rotation. In practical applications, the radial reference of this shaft needs to be supplemented. For example: in Cartesian F [l] , to rotate around lx, you need to use ly or lz as the reference zero.
- the coordinate axis itself is 1D, and three orthogonal 1D reference axes constitute a 3D Cartesian frame.
- the axis invariant is a 3D spatial unit reference axis, which is itself a frame. It has its own radial reference axis, the reference mark.
- the spatial coordinate axis and its own radial reference axis determine the Cartesian frame.
- the spatial coordinate axis can reflect the three basic reference attributes of the motion axis and the measurement axis.
- [2] is a 3D reference axis, which not only has an axial reference direction, but also has a radial reference zero position, which will be explained in section 3.3.1.
- the axis invariant For axis invariants, its absolute derivative is its relative derivative. Since the axis invariant is a natural reference axis with invariance, its absolute derivative is always a zero vector. Therefore, the axis invariant is invariant to time differentiation. Have:
- the basis vector e l is any vector consolidated with F [l] .
- the basis vector With Any vector of consolidation, Is F [l] and Common unit vector, so Is F [l] and Shared basis vector. So the axis is invariant Is F [l] and Common reference base.
- Axis invariants are parameterized natural coordinate bases and primitives for multi-axis systems. The translation and rotation of a fixed axis invariant are equivalent to the translation and rotation of a fixed coordinate system.
- optical measurement equipment such as laser trackers can be applied to achieve accurate measurement of invariants of fixed axes.
- the cylindrical pair can be applied to simplify the MAS kinematics and dynamics analysis.
- Invariant A quantity that does not depend on a set of coordinate systems for measurement is called an invariant.
- Natural coordinates take the natural coordinate axis vector as the reference direction, the angular position or line position relative to the zero position of the system, and record it as q l , which is called natural coordinates;
- natural motion vector will be determined by the natural axis vector And the vector determined by natural coordinates q l Called the natural motion vector. among them:
- the natural motion vector realizes the unified expression of axis translation and rotation.
- a vector to be determined by the natural axis vector and the joint such as Called the free motion vector, also known as the free spiral.
- the axis vector Is a specific free spiral.
- joint space The space represented by the joint natural coordinates q l is called joint space.
- the Cartesian space that expresses the position and pose (posture for short) is called a shape space, which is a double vector space or a 6D space.
- Natural joint space using the natural coordinate system as a reference, through joint variables Means that there must be when the system is zero The joint space is called natural joint space.
- Axis vector Is the natural reference axis of the natural coordinates of the joint. Because Is an axis invariant, so Is a fixed axis invariant, which characterizes the motion pair The structural relationship is determined by the natural coordinate axis. Fixed axis invariant Is a link Natural description of structural parameters.
- Natural coordinate axis space The fixed axis invariant is used as the natural reference axis, and the space represented by the corresponding natural coordinate is called the natural coordinate axis space, which is referred to as the natural axis space. It is a 3D space with 1 degree of freedom.
- any motion pair in the loop can be selected, and the stator and the mover constituting the motion pair can be separated; thus, a loop-free tree structure is obtained.
- the Span tree represents a span tree with directions to describe the topological relationship of the tree chain movement.
- I is a structural parameter; A is an axis sequence; F is a bar reference sequence; B is a bar body sequence; K is a motion pair type sequence; NT is a sequence of constrained axes, that is, a non-tree.
- Axis sequence a member of.
- Rotary pair R, prism pair P, spiral pair H, and contact pair O are special examples of cylindrical pair C.
- the motion chain is identified by a partial order set ().
- O () represents the number of operations in the calculation process, and usually refers to the number of floating-point multiplications and additions. It is very tedious to express the calculation complexity by the number of floating-point multiplication and addition. Therefore, the main operation times in the algorithm cycle are often used;
- l l k is the kinematic chain from axis l to axis k, and the output is expressed as And
- the cardinality is written as
- l l k execution process execution If Then execute Otherwise, end.
- the computational complexity of l l k is O (
- l L means to obtain a closed subtree composed of axis l and its subtrees, Is a subtree without l; recursively execute l l with a computational complexity of
- ⁇ means attribute placeholder; if the attribute p or P is about position, then Should be understood as a coordinate system To the origin of F [l] ; if the attribute p or P is about direction, then Should be understood as a coordinate system To F [l] .
- attribute variables or constants with partial order include the indicators indicating partial order in the name; either include the upper left corner and lower right corner indexes, or include the upper right corner and lower right corner indexes; Their directions are always from the upper left corner indicator to the lower right corner indicator, or from the upper right corner indicator to the lower right corner indicator.
- the description of the direction is sometimes omitted. Even if omitted, those skilled in the art can also use symbolic expressions. It is known that, for each parameter used in this application, for a certain attribute symbol, their directions are always from the upper left corner index to the lower right corner index of the partial order index, or from the upper right corner index to the lower right corner index.
- the symbol specifications and conventions of this application are determined based on the two principles of the partial order of the kinematic chain and the chain link being the basic unit of the kinematic chain, reflecting the essential characteristics of the kinematic chain.
- the chain indicator represents the connection relationship, and the upper right indicator represents the reference system.
- This symbolic expression is concise and accurate, which is convenient for communication and written expression.
- they are structured symbol systems that contain the elements and relationships that make up each attribute quantity, which is convenient for computer processing and lays the foundation for computer automatic modeling.
- the meaning of the indicator needs to be understood through the background of the attribute, that is, the context; for example: if the attribute is a translation type, the indicator at the upper left corner indicates the origin and direction of the coordinate system; if the attribute is a rotation type, the indicator at the top left The direction of the coordinate system.
- the coordinate vector in the natural coordinate system F [k] that is, the coordinate vector from k to l;
- rotation vector / angle vector I is a free vector, that is, the vector can be freely translated
- the angular position that is, the joint angle and joint variables, are scalars
- T means transpose of ⁇ , which means transpose the collection, and do not perform transpose on the members; for example:
- Projection symbol ⁇ represents vector or tensor of second order group reference projection vector or projection sequence, i.e. the vector of coordinates or coordinate array, that is, the dot product projection "*"; as: position vector
- the projection vector in the coordinate system F [k] is written as
- Is a cross multiplier for example: Is axis invariant Cross product matrix; given any vector
- the cross product matrix is
- the cross product matrix is a second-order tensor.
- i l j represents a kinematic chain from i to j
- l l k is a kinematic chain from axis l to k
- n represents the Cartesian Cartesian system, then Is a Cartesian axis chain; if n represents a natural reference axis, then For natural shaft chains.
- the projection is a measure of the rotation vector in linear space. Given link R is the rotating pair; controls joint variables Make consolidated unit vector l u S and desired unit vector Projection Optimal; of which: For l u S with Angle. This problem is called the inverse projection problem.
- Equation (5) is about N-dimensional 2nd order polynomial equation.
- Vector represents the axis vector.
- Equation (6) is about with Multivariable linear equation is an axis invariant Second-order polynomial. Given the natural zero vector l l lS as Zero reference, and Respectively the zero vector and the radial vector.
- Equation (6) is Symmetry Represents zero-axis tensor, antisymmetric part Represents the radial axial tensor, and the axial outer product tensor, respectively Orthogonal to determine the three-dimensional natural axis space; Equation (6) contains only one sine and cosine operation, six product operations, and six sum operations, and the calculation complexity is low; And joint variables The coordinate system and polarity are parameterized.
- Equation (6) can be expressed as
- Equation (8) Given the motion chain i l n , consider equation (8), if i Q n represents the attitude, with only three independent degrees of freedom; then when
- 3, there is an inverse 3R attitude solution. Given unit vector From Equation (8)
- Equation (11) degenerates into a linear equation:
- the CE3 inspector solar wing system p, Op is located at the center of the axis of the rotating pair c R p , x p passes the axis of the rotating pair c R p and points to the forward direction of the inspector, y p points to the left of the inspector, and p is determined by the right-hand rule, that is, pointing to the + Y photosensitive element array normal.
- the inspector system is denoted as c.
- the CE3 Inspector's solar wing control includes two modes:
- Solar wing adjustment control refers to: given Minimum threshold control It is necessary to ensure that the solar wing generates sufficient power and that the solar wing does not overheat due to solar radiation, that is, ⁇ p can be obtained from formula (13) or (15). Obviously,
- Solar wing optimal control refers to: control Ensure the maximum power generation of the solar wing. From equation (19), ⁇ p can be solved. Obviously, In the following, the correctness of equations (13), (15), and (19) is verified through special cases. If
- the solar wing is close to the digital transmission antenna and the omnidirectional antenna, it is easy to block the transmission of electromagnetic waves, resulting in the interruption or power attenuation of digital transmission or omnidirectional communication, which is called the mechanical interference between the solar wing and the antenna. Avoiding mechanical interference is the basic constraint of the mission planning, mast control, and solar wing control.
- the method for judging the mechanical interference between the patrol digital antenna and the solar wing or the omnidirectional antenna and the solar wing is as follows:
- the vertices of the omnidirectional transmitting antenna and the receiving antenna are S l and S r respectively .
- the intersection of the launch surface is S.
- C In the inspection system is C, S l established to control station of the ray equation, S R & lt monitoring stations to ray equations, S ray equations to the data receiving station, an omnidirectional radiation communication or data transmission communication with the solar wing plane equation of Equation Solve the intersection. If the intersection exists and lies within the solar airfoil, it is considered a mechanical interference.
- the detection rays interfere with the solar wing.
- the interference threshold must be considered.
- CE3 patrol solar wing control is the basic component of patrol mission planning system and patrol remote operation control system.
- the control of the behavior of the solar wing is displayed through a 3D scene, which can intuitively reflect the "sun and earth and moon” and the ground station, the attitude of the inspector, and the state of motion of the solar wing. Not only enables users to accurately grasp the state of the scene when the inspector is on track, but also helps improve the reliability of the software.
- the simulation test it can be used to analyze the adaptability of the detection area, lunar landform, detection time interval, solar wing and left solar wing power generation performance to the lunar patrol detection task, and it can optimize the design of the patrol power system.
- the D-H parameter has only 3 structural parameters and 1 joint variable, which is helpful to simplify the elimination of the attitude equation. Because the D-H parameters are usually nominal, it is difficult to obtain accurate engineering parameters. It is necessary to accurately measure the invariants of the fixed axis and obtain the corresponding accurate D-H series and D-H parameters through calculation. Therefore, the 2R pointing and 3R attitude problems based on axis invariants can be transformed into 2R pointing and 3R attitude problems based on D-H parameters.
- the corresponding DH system is recorded as According to the numbering convention of the DH coordinate system, the motion pair The corresponding axis is written as That is, the indicators in the DH system are used to follow the parent indicators, and the parameters in the natural coordinate system are different from the child indicators; the rotation angle is When defining: among them Is by the shaft Twist angle to axis l′ z;
- the unit vector of the ground data receiving station is c u S. Find its angular sequence [ ⁇ d , ⁇ m ].
- F ⁇ F [l]
- F [l] is the natural coordinate system
- F [l ′] is the DH system
- a l and c l are the axes Wheelbase and offset to axis l, For axis Twist angle to axis l, For axis Zero position.
- equations (50) and (51) the correctness of equations (54) and (55) is verified through special cases:
- the CE3 digital transmission mechanism control module shows through simulation that after adjusting the yaw of the patrol, the digital transmission antenna is controlled.
- the antenna beam axis always points to the earth.
- the latitude and longitude of the inspector is [-28.6,40.06] °, and the antenna beam direction always points to the southeast.
- the patrol latitude and longitude is [28.6,40.06] °, the antenna beam direction always points to the southwest azimuth.
- the digital antenna control results are correct.
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Abstract
Description
Claims (6)
- 一种基于轴不变量及DH参数1R/2R/3R逆解建模方法,其特征是,用于控制多轴机器装置,所述多轴机器装置包含杆件集合与关节集合,所述杆件集合中之杆件透过所述关节集合的关节结合,将所述关节集合转换成对应的轴集合,关节集合中的一个关节对应成所述轴集合的子轴集合,所述轴集合的轴包含平动轴与转动轴两种类型;使用所述轴集合来对应描述所述多轴机器装置,并且利用所述轴集合来建立动力学方程,以控制这个多轴机器装置;由式(1)得定义则给定运动链 il n,建立基于轴不变量的机器人3D矢量姿态方程:式(6)是关于 和 的多重线性方程,是轴不变量 的二阶多项式; 为旋转变换矩阵;给定自然零位矢量 ll lS作为 的零位参考,则 及 分别表示零位矢量及径向矢量;式(6)即为 对称部分 表示零位轴张量,反对称部分 表示径向轴张量,分别与轴向外积张量 正交,从而确定三维自然轴空间;式(6)表示为由式(7)得规范的机器人姿态方程:
- 根据权利要求3所述的基于轴不变量及DH参数1R/2R/3R逆解建模方法,其特征是,将基于轴不变量的2R指向问题转化为基于D-H参数的2R指向问题,定向逆解计算步骤为:其中约定C(□)=cos(□),S(□)=sin(□);自然坐标系 对应的D-H系记为 根据D-H坐标系统的编号习惯,运动副 对应的轴记为 即D-H系统中的指标习惯遵从父指标,与自然坐标系统下的参 数遵从子指标不同;转动角度为 时,定义: 其中 是由轴 至轴l′z的扭角;由式(36)最后一行得式中,若用“□”表示属性占位,则式中的表达形式□ [□]表示成员访问符;故有即有其中:故有由式(36)第一行得故有即其中:
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