CN110877337B - A three-link manipulator intelligent control method, chip and system - Google Patents
A three-link manipulator intelligent control method, chip and system Download PDFInfo
- Publication number
- CN110877337B CN110877337B CN201911203827.1A CN201911203827A CN110877337B CN 110877337 B CN110877337 B CN 110877337B CN 201911203827 A CN201911203827 A CN 201911203827A CN 110877337 B CN110877337 B CN 110877337B
- Authority
- CN
- China
- Prior art keywords
- formula
- coordinate system
- axis
- joint
- rotation angle
- 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.)
- Expired - Fee Related
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
- B25J9/16—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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
本发明涉及一种三连杆机械手智能控制方法、芯片和系统，以三连杆机械手的第一关节、第二关节和第三关节为原点分别建立第一坐标系、第二坐标系和第三坐标系，根据预设末端坐标计算出第一关节需绕第一坐标系的z轴旋转第一旋转角度θ1、第二关节需绕第二坐标系的z轴旋转第二旋转角度θ2和第三关节需绕第三坐标系的z轴旋转第三旋转角度θ3，然后控制所述第一关节绕第一坐标系的z轴旋转第一旋转角度θ1、第二关节绕第二坐标系的z轴旋转第二旋转角度θ2和第三关节需绕第三坐标系的z轴旋转第三旋转角度θ3，使第三连杆的末端的坐标准确的到达预设末端坐标的位置，由此实现了对三连杆机械手的精确控制。
The invention relates to an intelligent control method, chip and system of a three-link manipulator. The first, second and third joints of the three-link manipulator are used as origins to establish a first coordinate system, a second coordinate system and a third coordinate system respectively. coordinate system, according to the preset end coordinates, it is calculated that the first joint needs to be rotated around the z-axis of the first coordinate system by a first rotation angle θ 1 , and the second joint needs to be rotated around the z-axis of the second coordinate system by a second rotation angle θ 2 and The third joint needs to rotate around the z-axis of the third coordinate system by a third rotation angle θ 3 , and then control the first joint to rotate around the z-axis of the first coordinate system by the first rotation angle θ 1 , and the second joint around the second coordinate The z-axis of the system is rotated by a second rotation angle θ 2 and the third joint needs to be rotated around the z-axis of the third coordinate system by a third rotation angle θ 3 , so that the coordinates of the end of the third link accurately reach the position of the preset end coordinates , thus realizing the precise control of the three-link manipulator.
Description
技术领域technical field
本发明涉及三连杆机械手智能技术领域，尤其涉及一种三连杆机械手智能控制方法、芯片和系统。The invention relates to the technical field of intelligent three-link manipulators, in particular to an intelligent control method, chip and system of a three-link manipulator.
背景技术Background technique
随着自动化技术的不断发展和进步，物流自动化领域对三连杆机械手的应用日渐广泛，要求也不断提高，三连杆工业机械手相关技术的研究也得以深化和展开。三连杆机械手能够准确地完成任务，它的运动过程中的准度、精度和稳定性不可忽视，特别是三连杆机械手末端位置的精确控制。但三连杆机械手是一种复杂的序列关节结构，位置研究情况较为复杂，因此如何实现对三连杆机械手的精确控制是业内亟待解决的技术问题。With the continuous development and progress of automation technology, the application of three-link manipulators in the field of logistics automation has become more and more extensive, and the requirements have been continuously improved. The research on related technologies of three-link industrial manipulators has also been deepened and carried out. The three-link manipulator can accurately complete the task, and its accuracy, precision and stability in the movement process cannot be ignored, especially the precise control of the end position of the three-link manipulator. However, the three-link manipulator is a complex sequential joint structure, and the position research situation is relatively complicated. Therefore, how to realize the precise control of the three-link manipulator is a technical problem that needs to be solved urgently in the industry.
发明内容SUMMARY OF THE INVENTION
本发明所要解决的技术问题是针对现有技术的不足，提供了一种三连杆机械手智能控制方法、芯片和系统。The technical problem to be solved by the present invention is to provide a three-link manipulator intelligent control method, chip and system aiming at the deficiencies of the prior art.
本发明的一种三连杆机械手智能控制方法的技术方案如下：The technical scheme of a three-link manipulator intelligent control method of the present invention is as follows:
S1、根据预设末端坐标(Px，Py，Pz)计算出第一关节需绕第一坐标系的z轴旋转第一旋转角度θ1、第二关节需绕第二坐标系的z轴旋转第二旋转角度θ2和第三关节需绕第三坐标系的z轴旋转第三旋转角度θ3；S1. Calculate according to the preset end coordinates (P x , P y , P z ) that the first joint needs to rotate around the z-axis of the first coordinate system by a first rotation angle θ 1 , and the second joint needs to rotate around the z-axis of the second coordinate system The shaft is rotated by the second rotation angle θ 2 and the third joint needs to be rotated by the third rotation angle θ 3 around the z-axis of the third coordinate system;
S2、控制所述第一关节绕所述第一坐标系的z轴旋转第一旋转角度θ1、所述第二关节绕所述第二坐标系的z轴旋转第二旋转角度θ2和所述第三关节需绕第三坐标系的z轴旋转第三旋转角度θ3；S2. Control the first joint to rotate around the z-axis of the first coordinate system by a first rotation angle θ 1 , the second joint to rotate around the z-axis of the second coordinate system by a second rotation angle θ 2 and all The third joint needs to be rotated around the z-axis of the third coordinate system by a third rotation angle θ 3 ;
其中，三连杆机械手包括依次连接的第一连杆、第二连杆和第三连杆，所述第一关节为所述第一连杆的首端，Wherein, the three-link manipulator includes a first link, a second link and a third link which are connected in sequence, and the first joint is the head end of the first link,
所述第二关节为所述第一关节的末端与所述第二连杆的首端的连接处，The second joint is the connection between the end of the first joint and the head end of the second link,
所述第三关节为所述第二连杆的的末端与所述第三连杆的首端的连接处；The third joint is the connection between the end of the second link and the head end of the third link;
以所述第一关节的位置作为原点建立所述第一坐标系，且以所述第一关节作为所述三连杆机械手的基座；establishing the first coordinate system with the position of the first joint as the origin, and using the first joint as the base of the three-link manipulator;
以所述第二关节的位置作为原点建立所述第二坐标系；establishing the second coordinate system with the position of the second joint as the origin;
以所述第三关节的位置作为原点建立所述第三坐标系；establishing the third coordinate system with the position of the third joint as the origin;
所述预设末端坐标(Px，Py，Pz)为所述第三连杆的末端在所述第一坐标系上的坐标。The preset end coordinates (P x , P y , P z ) are the coordinates of the end of the third link on the first coordinate system.
本发明的一种三连杆机械手智能控制方法的有益效果如下：以三连杆机械手的第一关节、第二关节和第三关节为原点分别建立第一坐标系、第二坐标系和第三坐标系，根据预设末端坐标计算出第一关节需绕第一坐标系的z轴旋转第一旋转角度θ1、第二关节需绕第二坐标系的z轴旋转第二旋转角度θ2和第三关节需绕第三坐标系的z轴旋转第三旋转角度θ3，然后控制所述第一关节绕第一坐标系的z轴旋转第一旋转角度θ1、第二关节绕第二坐标系的z轴旋转第二旋转角度θ2和第三关节需绕第三坐标系的z轴旋转第三旋转角度θ3，使第三连杆的末端的坐标准确的到达预设末端坐标的位置，且只需控制三个参数：第一旋转角度θ1、第二旋转角度θ2和第三旋转角度θ3就能实现对三连杆机械手的精确控制，由此实现了一种能对三连杆机械手进行精确控制的三连杆机械手智能控制方法。The beneficial effects of the intelligent control method for a three-link manipulator of the present invention are as follows: the first, second and third joints of the three-link manipulator are used as origins to establish the first coordinate system, the second coordinate system and the third coordinate system respectively. coordinate system, according to the preset end coordinates, it is calculated that the first joint needs to be rotated around the z-axis of the first coordinate system by a first rotation angle θ 1 , and the second joint needs to be rotated around the z-axis of the second coordinate system by a second rotation angle θ 2 and The third joint needs to rotate around the z-axis of the third coordinate system by a third rotation angle θ 3 , and then control the first joint to rotate around the z-axis of the first coordinate system by the first rotation angle θ 1 , and the second joint around the second coordinate The z-axis of the system is rotated by a second rotation angle θ 2 and the third joint needs to be rotated around the z-axis of the third coordinate system by a third rotation angle θ 3 , so that the coordinates of the end of the third link accurately reach the position of the preset end coordinates , and only need to control three parameters: the first rotation angle θ 1 , the second rotation angle θ 2 and the third rotation angle θ 3 , the precise control of the three-link manipulator can be realized, thereby realizing a A three-link manipulator intelligent control method for precise control by a link manipulator.
在上述方案的基础上，本发明的一种三连杆机械手智能控制方法还可以做如下改进。On the basis of the above solution, the intelligent control method for a three-link manipulator of the present invention can also be improved as follows.
进一步，还包括：以所述第四关节的位置作为原点建立第四坐标系；Further, it also includes: establishing a fourth coordinate system with the position of the fourth joint as the origin;
将所述第一坐标系、所述第二坐标系、所述第三坐标系和所述第四坐标系中任意相邻的两个坐标系中，前一个坐标系的x轴与下一个坐标系的z轴垂直且相交。In any adjacent two coordinate systems of the first coordinate system, the second coordinate system, the third coordinate system and the fourth coordinate system, the x-axis of the previous coordinate system and the next coordinate The z-axis of the system are perpendicular and intersecting.
采用上述进一步方案的有益效果是：通过设置第一坐标系、所述第二坐标系、所述第三坐标系和第四坐标系之间的关系，便于对第一旋转角度θ1、第二旋转角度θ2和第三旋转角度θ3进行计算。The beneficial effect of adopting the above-mentioned further scheme is: by setting the relationship between the first coordinate system, the second coordinate system, the third coordinate system and the fourth coordinate system, it is convenient to adjust the first rotation angle θ 1 , the second coordinate system The rotation angle θ 2 and the third rotation angle θ 3 are calculated.
进一步，S1具体包括如下步骤：Further, S1 specifically includes the following steps:
S10、设置第一公式为：a1＝0，α1＝0，d1＝0，
第二公式为：a2＝A1，
第三公式为：a3＝A2，α3＝0，d3＝0，
第四公式为：a4＝A3，
S11、根据所述第一公式至所述第四公式推出第十六公式、第十七公式和第十八公式；S11, derive the sixteenth formula, the seventeenth formula and the eighteenth formula according to the first formula to the fourth formula;
根据所述第十六公式：
根据所述第十七公式：According to the seventeenth formula:
计算出所述第二旋转角度θ2；calculating the second rotation angle θ 2 ;
根据所述第十八公式：
其中，
i＝1,2,3,4，ai表示第i关节顺xi-1轴从zi-1到zi轴的空间距离；i=1, 2, 3, 4, a i represents the spatial distance of the i-th joint along the x i-1 axis from z i-1 to the z i axis;
αi表示第i关节绕xi-1轴从zi-1到zi轴的角度；α i represents the angle of the i-th joint around the x i-1 axis from zi -1 to the zi axis;
di表示第i关节顺zi轴从xi-1到xi轴的空间距离；d i represents the spatial distance of the i-th joint along the zi -axis from xi-1 to the xi -axis;
Θi表示第i关节绕zi轴从xi-1到xi轴的空间距离；Θ i represents the spatial distance of the i-th joint around the zi axis from x i-1 to the x i axis;
xi轴表示所述第一坐标系至所述第四坐标中的第i坐标系的x轴；The x i -axis represents the x-axis of the i-th coordinate system from the first coordinate system to the fourth coordinate;
zi轴表示所述第一坐标系至所述第四坐标中的第i坐标系的z轴；The z i -axis represents the z-axis of the i-th coordinate system from the first coordinate system to the fourth coordinate;
进一步，S11具体包括如下步骤：Further, S11 specifically includes the following steps:
S110、将αi用矩阵进行表示，得到第五公式：S110, represent α i with a matrix, and obtain the fifth formula:
将ai用矩阵进行表示，得到第六公式：
将Θi用矩阵进行表示，得到第七公式：
将di用矩阵进行表示，得到第八公式：
将所述第五公式、所述第六公式、所述第七公式和所述第八公式相乘，得到第九公式：Multiply the fifth formula, the sixth formula, the seventh formula and the eighth formula to obtain the ninth formula:
S111、将所述第一公式、所述第二公式、所述第三公式和所述第四公式带入所述第九公式，然后矩阵相乘得到第十公式：S111. Bring the first formula, the second formula, the third formula and the fourth formula into the ninth formula, and then multiply the matrix to obtain the tenth formula:
其中，
S112、对所述第三连杆的末端用矩阵进行表示，得到第十一公式：S112, the end of the third connecting rod is represented by a matrix, and the eleventh formula is obtained:
且A＝T1，标记为第十二公式；And A=T 1 , marked as the twelfth formula;
S113、在所述第十二公式的两边均乘以0T1的逆矩阵
S114、根据第十四公式：S114. According to the fourteenth formula:
计算出
其中，Px1＝-Px sinΘ1-Py cosΘ1；Py1＝-Px cosΘ1-Py sinΘ1；Pz1＝Pz；Wherein, P x1 =-P x sinΘ 1 -P y cosΘ 1 ; P y1 =-P x cosΘ 1 -P y sinΘ 1 ; P z1 =P z ;
根据第十五公式：
S115、根据所述第十四公式和所述第十五公式推出所述第十六公式、所述第十七公式和所述第十八公式。S115. Deriving the sixteenth formula, the seventeenth formula and the eighteenth formula according to the fourteenth formula and the fifteenth formula.
本发明的一种芯片的技术方案是：用于执行上述任一项所述的一种三连杆机械手智能控制方法。The technical solution of a chip of the present invention is to implement the intelligent control method for a three-link manipulator described in any one of the above.
本发明的一种芯片的有益效果是：芯片以三连杆机械手的第一关节、第二关节和第三关节为原点分别建立第一坐标系、第二坐标系和第三坐标系，根据预设末端坐标计算出第一关节需绕第一坐标系的z轴旋转第一旋转角度θ1、第二关节需绕第二坐标系的z轴旋转第二旋转角度θ2和第三关节需绕第一坐标系的z轴旋转第三旋转角度θ3，然后芯片控制所述第一关节绕第一坐标系的z轴旋转第一旋转角度θ1、第二关节绕第二坐标系的z轴旋转第二旋转角度θ2和第三关节需绕第三坐标系的z轴旋转第三旋转角度θ3，使第三连杆的末端的坐标准确的到达预设末端坐标的位置，且只需控制三个参数：第一旋转角度θ1、第二旋转角度θ2和第三旋转角度θ3就能实现对三连杆机械手的精确控制。The beneficial effect of a chip of the present invention is: the chip establishes the first coordinate system, the second coordinate system and the third coordinate system respectively with the first joint, the second joint and the third joint of the three-link manipulator as the origin. Set the end coordinates to calculate that the first joint needs to rotate around the z-axis of the first coordinate system by the first rotation angle θ 1 , the second joint needs to rotate around the z-axis of the second coordinate system by the second rotation angle θ 2 , and the third joint needs to rotate around the z-axis of the second coordinate system. The z-axis of the first coordinate system is rotated by a third rotation angle θ 3 , and then the chip controls the first joint to rotate around the z-axis of the first coordinate system by a first rotation angle θ 1 , and the second joint around the z-axis of the second coordinate system. Rotating the second rotation angle θ 2 and the third joint need to rotate the third rotation angle θ 3 around the z-axis of the third coordinate system, so that the coordinates of the end of the third link accurately reach the position of the preset end coordinates, and only need By controlling three parameters: the first rotation angle θ 1 , the second rotation angle θ 2 and the third rotation angle θ 3 , the precise control of the three-link manipulator can be realized.
本发明的一种三连杆机械手智能控制系统的技术方案如下：The technical scheme of a three-link manipulator intelligent control system of the present invention is as follows:
采用上述的一种芯片，还包括三个电机，且与所述的三个电机与所述第一关节、所述第二关节和所述第三关节一一对应，所述芯片为PLC控制器，所述PLC控制器通过控制相应的电机进而控制所述第一关节绕所述第一坐标系的z轴旋转第一旋转角度θ1、所述第二关节绕所述第二坐标系的z轴旋转第二旋转角度θ2和所述第三关节需绕第三坐标系的z轴旋转第三旋转角度θ3。The above-mentioned chip also includes three motors, and the three motors correspond to the first joint, the second joint and the third joint one-to-one, and the chip is a PLC controller , the PLC controller controls the corresponding motor to control the first joint to rotate around the z-axis of the first coordinate system by a first rotation angle θ 1 , and the second joint to rotate around the z-axis of the second coordinate system The axis is rotated by a second rotation angle θ 2 and the third joint needs to be rotated by a third rotation angle θ 3 around the z-axis of the third coordinate system.
本发明的一种三连杆机械手智能控制系统的有益效果如下：The beneficial effects of a three-link manipulator intelligent control system of the present invention are as follows:
以三连杆机械手的第一关节、第二关节和第三关节为原点分别建立第一坐标系、第二坐标系和第三坐标系，根据预设末端坐标计算出第一关节需绕第一坐标系的z轴旋转第一旋转角度θ1、第二关节需绕第二坐标系的z轴旋转第二旋转角度θ2和第三关节需绕第一坐标系的z轴旋转第三旋转角度θ3，然后芯片控制所述第一关节绕第一坐标系的z轴旋转第一旋转角度θ1、第二关节绕第二坐标系的z轴旋转第二旋转角度θ2和第三关节需绕第三坐标系的z轴旋转第三旋转角度θ3，使第三连杆的末端的坐标准确的到达预设末端坐标的位置，且只需控制三个参数：第一旋转角度θ1、第二旋转角度θ2和第三旋转角度θ3就能实现对三连杆机械手的精确控制。The first, second and third joints of the three-link manipulator are used as the origin to establish the first coordinate system, the second coordinate system and the third coordinate system respectively. The z-axis of the coordinate system is rotated by a first rotation angle θ 1 , the second joint needs to be rotated around the z-axis of the second coordinate system by a second rotation angle θ 2 and the third joint needs to be rotated around the z-axis of the first coordinate system by a third rotation angle θ 3 , then the chip controls the first joint to rotate around the z-axis of the first coordinate system by a first rotation angle θ 1 , the second joint rotates around the z-axis of the second coordinate system by a second rotation angle θ 2 and the third joint needs to be Rotate the third rotation angle θ 3 around the z-axis of the third coordinate system, so that the coordinates of the end of the third link accurately reach the position of the preset end coordinate, and only need to control three parameters: the first rotation angle θ 1 , The second rotation angle θ 2 and the third rotation angle θ 3 can realize precise control of the three-link manipulator.
其中，芯片可采用PLC控制器，通过PLC控制器控制电机进而控制相应的电机进而控制所述第一关节绕所述第一坐标系的z轴旋转第一旋转角度θ1、所述第二关节绕所述第二坐标系的z轴旋转第二旋转角度θ2和所述第三关节需绕第三坐标系的z轴旋转第三旋转角度θ3，结构简单。The chip can use a PLC controller, and the PLC controller controls the motor and then controls the corresponding motor to control the first joint to rotate around the z-axis of the first coordinate system by a first rotation angle θ 1 , the second joint The second rotation angle θ 2 is rotated around the z-axis of the second coordinate system and the third joint needs to be rotated around the z-axis of the third coordinate system by a third rotation angle θ 3 , and the structure is simple.
附图说明Description of drawings
图1为本发明实施例的一种三连杆机械手智能控制方法的流程示意图；1 is a schematic flowchart of an intelligent control method for a three-link manipulator according to an embodiment of the present invention;
图2为本发明实施例的一种三连杆机械手智能控制方法的计算模型的示意图；2 is a schematic diagram of a calculation model of a three-link manipulator intelligent control method according to an embodiment of the present invention;
图3为本发明实施例的一种三连杆机械手智能控制系统的结构示意图。FIG. 3 is a schematic structural diagram of a three-link manipulator intelligent control system according to an embodiment of the present invention.
图4为本发明实施例的一种三连杆机械手智能控制系统的控制逻辑示意图。FIG. 4 is a schematic control logic diagram of a three-link manipulator intelligent control system according to an embodiment of the present invention.
具体实施方式Detailed ways
如图1所示，本发明实施例的一种三连杆机械手智能控制方法，包括如下步骤：As shown in FIG. 1 , an intelligent control method for a three-link manipulator according to an embodiment of the present invention includes the following steps:
S1、根据预设末端坐标(Px，Py，Pz)计算出第一关节1需绕第一坐标系的z轴旋转第一旋转角度θ1、第二关节3需绕第二坐标系的z轴旋转第二旋转角度θ2和第三关节5需绕第三坐标系的z轴旋转第三旋转角度θ3；S1. According to the preset end coordinates (P x , P y , P z ), calculate that the first joint 1 needs to rotate the first rotation angle θ 1 around the z-axis of the first coordinate system, and the second joint 3 needs to rotate around the second coordinate system. The z-axis is rotated by a second rotation angle θ 2 and the third joint 5 needs to be rotated around the z-axis of the third coordinate system by a third rotation angle θ 3 ;
S2、控制所述第一关节1绕所述第一坐标系的z轴旋转第一旋转角度θ1、所述第二关节3绕所述第二坐标系的z轴旋转第二旋转角度θ2和所述第三关节5需绕第三坐标系的z轴旋转第三旋转角度θ3；S2. Control the first joint 1 to rotate around the z-axis of the first coordinate system by a first rotation angle θ 1 , and the second joint 3 to rotate around the z-axis of the second coordinate system by a second rotation angle θ 2 And the third joint 5 needs to rotate a third rotation angle θ 3 around the z-axis of the third coordinate system;
其中，三连杆机械手包括依次连接的第一连杆2、第二连杆4和第三连杆6，The three-link manipulator includes a first link 2, a second link 4 and a third link 6 that are connected in sequence,
所述第一关节1为所述第一连杆2的首端，The first joint 1 is the head end of the first link 2,
所述第二关节3为所述第一关节1的末端与所述第二连杆4的首端的连接处，The second joint 3 is the connection between the end of the first joint 1 and the head end of the second link 4,
所述第三关节5为所述第二连杆4的的末端与所述第三连杆6的首端的连接处；The third joint 5 is the connection between the end of the second link 4 and the head end of the third link 6;
以所述第一关节1的位置作为原点建立所述第一坐标系，且以所述第一关节1作为所述三连杆机械手的基座；The first coordinate system is established with the position of the first joint 1 as the origin, and the first joint 1 is used as the base of the three-link manipulator;
以所述第二关节3的位置作为原点建立所述第二坐标系；establishing the second coordinate system with the position of the second joint 3 as the origin;
以所述第三关节5的位置作为原点建立所述第三坐标系；establishing the third coordinate system with the position of the third joint 5 as the origin;
所述预设末端坐标(Px，Py，Pz)为所述第三连杆6的末端在所述第一坐标系上的坐标。The preset end coordinates (P x , P y , P z ) are the coordinates of the end of the third link 6 on the first coordinate system.
以三连杆机械手的第一关节1、第二关节3和第三关节5为原点分别建立第一坐标系、第二坐标系和第三坐标系，根据预设末端坐标计算出第一关节1需绕第一坐标系的z轴旋转第一旋转角度θ1、第二关节3需绕第二坐标系的z轴旋转第二旋转角度θ2和第三关节5需绕第三坐标系的z轴旋转第三旋转角度θ3，然后控制所述第一关节1绕第一坐标系的z轴旋转第一旋转角度θ1、第二关节3绕第二坐标系的z轴旋转第二旋转角度θ2和第三关节5需绕第三坐标系的z轴旋转第三旋转角度θ3，使第三连杆6的末端的坐标准确的到达预设末端坐标的位置，且只需控制三个参数：第一旋转角度θ1、第二旋转角度θ2和第三旋转角度θ3就能实现对三连杆机械手的精确控制，由此实现了一种能对三连杆机械手进行精确控制的三连杆机械手智能控制方法。Take the first joint 1, the second joint 3 and the third joint 5 of the three-link manipulator as the origin to establish the first coordinate system, the second coordinate system and the third coordinate system respectively, and calculate the first joint 1 according to the preset end coordinates The first rotation angle θ 1 needs to be rotated around the z-axis of the first coordinate system, the second joint 3 needs to be rotated around the z-axis of the second coordinate system by the second rotation angle θ 2 and the third joint 5 needs to be rotated around the z of the third coordinate system. The axis is rotated by a third rotation angle θ 3 , and then the first joint 1 is controlled to rotate around the z-axis of the first coordinate system by a first rotation angle θ 1 , and the second joint 3 is rotated around the z-axis of the second coordinate system by a second rotation angle θ 2 and the third joint 5 need to rotate a third rotation angle θ 3 around the z-axis of the third coordinate system, so that the coordinates of the end of the third link 6 accurately reach the position of the preset end coordinates, and only need to control three Parameters: the first rotation angle θ 1 , the second rotation angle θ 2 and the third rotation angle θ 3 can realize the precise control of the three-link manipulator, thus realizing a precise control of the three-link manipulator. Three-link manipulator intelligent control method.
较优地，在上述技术方案中，还包括：以所述第四关节7的位置作为原点建立第四坐标系；将所述第一坐标系、所述第二坐标系、所述第三坐标系和所述第四坐标系中任意相邻的两个坐标系中，前一个坐标系的x轴与下一个坐标系的z轴垂直且相交。通过设置第一坐标系、所述第二坐标系、所述第三坐标系和第四坐标系之间的关系，便于对第一旋转角度θ1、第二旋转角度θ2和第三旋转角度θ3进行计算。Preferably, in the above technical solution, it also includes: establishing a fourth coordinate system with the position of the fourth joint 7 as the origin; setting the first coordinate system, the second coordinate system, and the third coordinate system In any two adjacent coordinate systems in the fourth coordinate system, the x-axis of the previous coordinate system is perpendicular to and intersects the z-axis of the next coordinate system. By setting the relationship between the first coordinate system, the second coordinate system, the third coordinate system and the fourth coordinate system, it is convenient to compare the first rotation angle θ 1 , the second rotation angle θ 2 and the third rotation angle θ 3 is calculated.
较优地，在上述技术方案中，S1具体包括如下步骤：Preferably, in the above technical solution, S1 specifically includes the following steps:
S10、设置第一公式为：a1＝0，α1＝0，d1＝0，
第二公式为：a2＝A1，
第三公式为：a3＝A2，α3＝0，d3＝0，
第四公式为：a4＝A3，
S11、根据所述第一公式至所述第四公式推出第十六公式、第十七公式和第十八公式；S11, derive the sixteenth formula, the seventeenth formula and the eighteenth formula according to the first formula to the fourth formula;
根据所述第十六公式：
根据所述第十七公式：According to the seventeenth formula:
计算出所述第二旋转角度θ2；calculating the second rotation angle θ 2 ;
根据所述第十八公式：
其中，
i＝1,2,3,4，ai表示第i关节顺xi-1轴从zi-1到zi轴的空间距离；i=1, 2, 3, 4, a i represents the spatial distance of the i-th joint along the x i-1 axis from z i-1 to the z i axis;
αi表示第i关节绕xi-1轴从zi-1到zi轴的角度；α i represents the angle of the i-th joint around the x i-1 axis from zi -1 to the zi axis;
di表示第i关节顺zi轴从xi-1到xi轴的空间距离；d i represents the spatial distance of the i-th joint along the zi -axis from xi-1 to the xi -axis;
Θi表示第i关节绕zi轴从xi-1到xi轴的空间距离；Θ i represents the spatial distance of the i-th joint around the zi axis from x i-1 to the x i axis;
xi轴表示所述第一坐标系至所述第四坐标中的第i坐标系的x轴；The x i -axis represents the x-axis of the i-th coordinate system from the first coordinate system to the fourth coordinate;
zi轴表示所述第一坐标系至所述第四坐标中的第i坐标系的z轴；The z i -axis represents the z-axis of the i-th coordinate system from the first coordinate system to the fourth coordinate;
较优地，在上述技术方案中，S11具体包括如下步骤：Preferably, in the above technical solution, S11 specifically includes the following steps:
S110、将αi用矩阵进行表示，得到第五公式：S110, represent α i with a matrix, and obtain the fifth formula:
将ai用矩阵进行表示，得到第六公式：
将Θi用矩阵进行表示，得到第七公式：
将di用矩阵进行表示，得到第八公式：
将所述第五公式、所述第六公式、所述第七公式和所述第八公式相乘，得到第九公式：Multiply the fifth formula, the sixth formula, the seventh formula and the eighth formula to obtain the ninth formula:
S111、将所述第一公式、所述第二公式、所述第三公式和所述第四公式带入所述第九公式，然后矩阵相乘得到第十公式：S111. Bring the first formula, the second formula, the third formula and the fourth formula into the ninth formula, and then multiply the matrix to obtain the tenth formula:
其中，
S112、对所述第三连杆6的末端用矩阵进行表示，得到第十一公式：S112, the end of the third connecting rod 6 is represented by a matrix, and the eleventh formula is obtained:
且A＝T1，标记为第十二公式；And A=T 1 , marked as the twelfth formula;
S113、在所述第十二公式的两边均乘以0T1的逆矩阵
S114、根据第十四公式：S114. According to the fourteenth formula:
计算出
其中，Px1＝-Px sinΘ1-Py cosΘ1；Py1＝-Px cosΘ1-Py sinΘ1；Pz1＝Pz；Wherein, P x1 =-P x sinΘ 1 -P y cosΘ 1 ; P y1 =-P x cosΘ 1 -P y sinΘ 1 ; P z1 =P z ;
根据第十五公式：
S115、根据所述第十四公式和所述第十五公式推出所述第十六公式、所述第十七公式和所述第十八公式。S115. Deriving the sixteenth formula, the seventeenth formula and the eighteenth formula according to the fourteenth formula and the fifteenth formula.
下面结合图2对本申请中的一种三连杆机械手智能控制方法进行更详细地阐述：Below in conjunction with Fig. 2, a kind of intelligent control method of three-link manipulator in the present application is described in more detail:
图2中，第一坐标系的x轴、y轴和z轴分别标记为X1、Y1和Z1；第二坐标系的x轴、y轴和z轴分别标记为X2、Y2和Z2；第三坐标系的x轴、y轴和z轴分别标记为X1、Y3和Z3；第四坐标系的x轴、y轴和z轴分别标记为X4、Y4和Z4；在三连杆机械手中，驱动关节就会驱动相应地连杆做相应的动作，此为常规技术，在此不做赘述。In FIG. 2 , the x-axis, y-axis and z-axis of the first coordinate system are marked as X 1 , Y 1 and Z 1 respectively; the x-axis, y-axis and z-axis of the second coordinate system are marked as X 2 , Y 2 respectively and Z 2 ; the x-axis, y-axis and z-axis of the third coordinate system are marked as X 1 , Y 3 and Z 3 respectively; the x-axis, y-axis and z-axis of the fourth coordinate system are marked as X 4 , Y 4 respectively and Z 4 ; in a three-link manipulator, the drive joint will drive the corresponding link to perform corresponding actions, which is a conventional technique and will not be repeated here.
按照上文内容建立第一坐标系、第二坐标系、第三坐标系和第四坐标系，设置第一公式为：a1＝0，α1＝0，d1＝0，
第二公式为：a2＝A1，
第三公式为：a3＝A2，α3＝0，d3＝0，
第四公式为：a4＝A3，
将αi用矩阵进行表示，得到第五公式：
将ai用矩阵进行表示，得到第六公式：
将Θi用矩阵进行表示，得到第七公式：
将di用矩阵进行表示，得到第八公式：
将所述第五公式、所述第六公式、所述第七公式和所述第八公式相乘，得到第九公式：Multiply the fifth formula, the sixth formula, the seventh formula and the eighth formula to obtain the ninth formula:
将所述第一公式、所述第二公式、所述第三公式和所述第四公式带入所述第九公式，然后矩阵相乘得到第十公式：Bring the first formula, the second formula, the third formula and the fourth formula into the ninth formula, and then multiply the matrix to obtain the tenth formula:
其中，
对所述第三连杆6的末端用矩阵进行表示，得到第十一公式：The end of the third link 6 is represented by a matrix, and the eleventh formula is obtained:
且A＝T1，标记为第十二公式；And A=T 1 , marked as the twelfth formula;
S113、在所述第十二公式的两边均乘以0T1的逆矩阵
根据第十四公式：According to the fourteenth formula:
计算出
其中，Px1＝-Px sinΘ1-Py cosΘ1；Py1＝-Px cosΘ1-Py sinΘ1；Pz1＝Pz；Wherein, P x1 =-P x sinΘ 1 -P y cosΘ 1 ; P y1 =-P x cosΘ 1 -P y sinΘ 1 ; P z1 =P z ;
根据第十五公式：
在第十四公式和第十五公式中，即oT1 -1A与0T1 -1T1的第二行、第四列的元素相等且等于0，可得到第十六公式：
在第十四公式和第十五公式中，即oT1 -1A与0T1 -1T1的第一行、第四列的元素相等，以及第三行、第四列的元素相等，可得到第十七公式：In the fourteenth formula and the fifteenth formula, that is, the elements of the first row and the fourth column of o T 1 -1 A and 0 T 1 -1 T 1 are equal, and the elements of the third row and the fourth column are equal , the seventeenth formula can be obtained:
和第十八公式：
其中，
根据第十六公式、第十七公式和第十八公式得到了三连杆机械手的预设末端坐标(Px，Py，Pz)与第一旋转角度θ1、第二旋转角度θ2和第三旋转角度θ3之间的关系，从而控制所述第一关节1绕所述第一坐标系的z轴旋转第一旋转角度θ1、所述第二关节3绕所述第二坐标系的z轴旋转第二旋转角度θ2和所述第三关节5需绕第三坐标系的z轴旋转第三旋转角度θ3实现对三连杆机械手的精确控制。According to the sixteenth formula, the seventeenth formula and the eighteenth formula, the preset end coordinates (P x , P y , P z ) and the first rotation angle θ 1 and the second rotation angle θ 2 of the three-link manipulator are obtained. and the third rotation angle θ 3 , so as to control the first joint 1 to rotate around the z-axis of the first coordinate system by the first rotation angle θ 1 , and the second joint 3 to rotate around the second coordinate The z-axis of the system is rotated by a second rotation angle θ2 and the third joint 5 needs to be rotated around the z-axis of the third coordinate system by a third rotation angle θ3 to achieve precise control of the three-link manipulator.
其中，可设置上述的距离单位均为m，上述的角度单位均为rad，便于进行计算，且c2、s2、c23和s23均为无量纲的中间变量。Wherein, the above distance unit can be set to be m, the above angle unit can be set to be rad, which is convenient for calculation, and c 2 , s 2 , c 23 and s 23 are all dimensionless intermediate variables.
本发明实施例的一种芯片，用于执行上述任一实施例所述的一种三连杆机械手智能控制方法。A chip according to an embodiment of the present invention is used to implement the intelligent control method for a three-link manipulator described in any of the foregoing embodiments.
芯片以三连杆机械手的第一关节1、第二关节3和第三关节5为原点分别建立第一坐标系、第二坐标系和第三坐标系，根据预设末端坐标计算出第一关节1需绕第一坐标系的z轴旋转第一旋转角度θ1、第二关节3需绕第二坐标系的z轴旋转第二旋转角度θ2和第三关节5需绕第三坐标系的z轴旋转第三旋转角度θ3，然后控制所述第一关节1绕第一坐标系的z轴旋转第一旋转角度θ1、第二关节3绕第二坐标系的z轴旋转第二旋转角度θ2和第三关节5需绕第三坐标系的z轴旋转第三旋转角度θ3，使第三连杆6的末端的坐标准确的到达预设末端坐标的位置，且只需控制三个参数：第一旋转角度θ1、第二旋转角度θ2和第三旋转角度θ3就能实现对三连杆机械手的精确控制，其中，芯片可为PLC控制器或CPU等。The chip uses the first joint 1, the second joint 3 and the third joint 5 of the three-link manipulator as the origin to establish the first coordinate system, the second coordinate system and the third coordinate system respectively, and calculates the first joint according to the preset end coordinates. 1 needs to be rotated around the z-axis of the first coordinate system by the first rotation angle θ 1 , the second joint 3 needs to be rotated around the z-axis of the second coordinate system by the second rotation angle θ 2 and the third joint 5 needs to be rotated around the third coordinate system The z-axis is rotated by a third rotation angle θ 3 , and then the first joint 1 is controlled to rotate around the z-axis of the first coordinate system by a first rotation angle θ 1 , and the second joint 3 is rotated around the z-axis of the second coordinate system by a second rotation The angle θ 2 and the third joint 5 need to be rotated around the z-axis of the third coordinate system by a third rotation angle θ 3 , so that the coordinates of the end of the third link 6 accurately reach the position of the preset end coordinates, and only need to control the three The parameters: the first rotation angle θ 1 , the second rotation angle θ 2 and the third rotation angle θ 3 can realize the precise control of the three-link manipulator, wherein the chip can be a PLC controller or a CPU or the like.
如图3和图4所示，本发明实施例的一种三连杆机械手智能控制系统，采用上述实施例中一种芯片，还包括三个电机，且与所述的三个电机与所述第一关节1、所述第二关节3和所述第三关节5一一对应，所述芯片为PLC控制器，所述PLC控制器通过控制相应的电机进而控制所述第一关节1绕所述第一坐标系的z轴旋转第一旋转角度θ1、所述第二关节3绕所述第二坐标系的z轴旋转第二旋转角度θ2和所述第三关节5需绕第三坐标系的z轴旋转第三旋转角度θ3。As shown in FIG. 3 and FIG. 4 , an intelligent control system for a three-link manipulator according to an embodiment of the present invention adopts a chip in the above-mentioned embodiment, and further includes three motors, which are connected with the three motors and the The first joint 1, the second joint 3 and the third joint 5 are in one-to-one correspondence, the chip is a PLC controller, and the PLC controller controls the first joint 1 by controlling the corresponding motor. The z-axis of the first coordinate system is rotated by a first rotation angle θ 1 , the second joint 3 is rotated around the z-axis of the second coordinate system by a second rotation angle θ 2 , and the third joint 5 needs to rotate around the third The z-axis of the coordinate system is rotated by a third rotation angle θ 3 .
芯片以三连杆机械手的第一关节1、第二关节3和第三关节5为原点分别建立第一坐标系、第二坐标系和第三坐标系，根据预设末端坐标计算出第一关节1需绕第一坐标系的z轴旋转第一旋转角度θ1、第二关节3需绕第二坐标系的z轴旋转第二旋转角度θ2和第三关节5需绕第三坐标系的z轴旋转第三旋转角度θ3，然后控制所述第一关节1绕第一坐标系的z轴旋转第一旋转角度θ1、第二关节3绕第二坐标系的z轴旋转第二旋转角度θ2和第三关节5需绕第三坐标系的z轴旋转第三旋转角度θ3，使第三连杆6的末端的坐标准确的到达预设末端坐标的位置，且只需控制三个参数：第一旋转角度θ1、第二旋转角度θ2和第三旋转角度θ3就能实现对三连杆机械手的精确控制。The chip uses the first joint 1, the second joint 3 and the third joint 5 of the three-link manipulator as the origin to establish the first coordinate system, the second coordinate system and the third coordinate system respectively, and calculates the first joint according to the preset end coordinates. 1 needs to be rotated around the z-axis of the first coordinate system by the first rotation angle θ 1 , the second joint 3 needs to be rotated around the z-axis of the second coordinate system by the second rotation angle θ 2 and the third joint 5 needs to be rotated around the third coordinate system The z-axis is rotated by a third rotation angle θ 3 , and then the first joint 1 is controlled to rotate around the z-axis of the first coordinate system by a first rotation angle θ 1 , and the second joint 3 is rotated around the z-axis of the second coordinate system by a second rotation The angle θ 2 and the third joint 5 need to be rotated around the z-axis of the third coordinate system by a third rotation angle θ 3 , so that the coordinates of the end of the third link 6 accurately reach the position of the preset end coordinates, and only need to control the three The parameters: the first rotation angle θ 1 , the second rotation angle θ 2 and the third rotation angle θ 3 can realize the precise control of the three-link manipulator.
当芯片为PLC控制器时，PLC控制器控制电机进而控制相应的电机进而控制所述第一关节1绕所述第一坐标系的z轴旋转第一旋转角度θ1、所述第二关节3绕所述第二坐标系的z轴旋转第二旋转角度θ2和所述第三关节5需绕第三坐标系的z轴旋转第三旋转角度θ3，结构简单。When the chip is a PLC controller, the PLC controller controls the motor and then controls the corresponding motor and then controls the first joint 1 to rotate around the z-axis of the first coordinate system by a first rotation angle θ 1 , and the second joint 3 The second rotation angle θ 2 around the z-axis of the second coordinate system and the third joint 5 need to be rotated around the z-axis of the third coordinate system by a third rotation angle θ 3 , and the structure is simple.
详细地，将与第一关节1对应的电机标记为M1，与第二关节3对应的电机标记为M2，与第三关节5对应的电机标记为M3；与M1相应的变频器标记为1#变频器，与M2相应的变频器标记为2#变频器，与M3相应的变频器标记为3#变频器；In detail, the motor corresponding to the first joint 1 is marked as M1, the motor corresponding to the second joint 3 is marked as M2, the motor corresponding to the third joint 5 is marked as M3; the inverter corresponding to M1 is marked as 1# Inverter, the inverter corresponding to M2 is marked as 2# inverter, and the inverter corresponding to M3 is marked as 3# inverter;
通过监测中心计算机对PLC控制器进行系统设置，也就是将A1、A2、A3、D3、
在本发明中，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。In the present invention, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically defined.
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。Although the embodiments of the present invention have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and should not be construed as limiting the present invention. Embodiments are subject to variations, modifications, substitutions and variations.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911203827.1A CN110877337B (en) | 2019-11-29 | 2019-11-29 | A three-link manipulator intelligent control method, chip and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911203827.1A CN110877337B (en) | 2019-11-29 | 2019-11-29 | A three-link manipulator intelligent control method, chip and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110877337A CN110877337A (en) | 2020-03-13 |
| CN110877337B true CN110877337B (en) | 2020-11-24 |
Family
ID=69729763
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911203827.1A Expired - Fee Related CN110877337B (en) | 2019-11-29 | 2019-11-29 | A three-link manipulator intelligent control method, chip and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110877337B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111673716A (en) * | 2020-06-08 | 2020-09-18 | 中冶南方城市建设工程技术有限公司 | Dexterous hand positioning method and control system |
| CN113805528A (en) * | 2021-10-11 | 2021-12-17 | 深圳华数机器人有限公司 | Linkage control method of glass machine and manipulator based on numerical control double-channel system |
| CN118438456B (en) * | 2024-07-03 | 2024-09-03 | 杭州三坛医疗科技有限公司 | Gesture positioning method and device, electronic equipment and storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8660694B2 (en) * | 2008-04-29 | 2014-02-25 | Winfried Lurz | Method for computer-aided movement planning of a robot |
| CN106826813A (en) * | 2016-12-12 | 2017-06-13 | 杭州宇芯机器人科技有限公司 | The robot stabilized motion control method of the foot point assessment that falls with multiple constraint is modeled based on curve matching |
| CN206899222U (en) * | 2017-02-10 | 2018-01-19 | 东方电气成都智能科技有限公司 | A kind of multi-joint mechanical arm system based on mobile robot |
| CN108500966A (en) * | 2018-03-30 | 2018-09-07 | 阜阳师范学院 | A kind of novel radio mechanical arm and control method |
| CN108582152A (en) * | 2018-05-14 | 2018-09-28 | 电子科技大学 | A kind of articulation mechanism with the rotation of Three Degree Of Freedom adjustable point |
| CN109262610A (en) * | 2018-08-30 | 2019-01-25 | 珠海格力电器股份有限公司 | Method and system for solving tail end pose of serial multi-degree-of-freedom robot and robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263478B (en) * | 2017-07-11 | 2020-03-17 | 西南科技大学 | Method for calculating clamping force of manipulator claw of teleoperation robot and control method thereof |
-
2019
- 2019-11-29 CN CN201911203827.1A patent/CN110877337B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8660694B2 (en) * | 2008-04-29 | 2014-02-25 | Winfried Lurz | Method for computer-aided movement planning of a robot |
| CN106826813A (en) * | 2016-12-12 | 2017-06-13 | 杭州宇芯机器人科技有限公司 | The robot stabilized motion control method of the foot point assessment that falls with multiple constraint is modeled based on curve matching |
| CN206899222U (en) * | 2017-02-10 | 2018-01-19 | 东方电气成都智能科技有限公司 | A kind of multi-joint mechanical arm system based on mobile robot |
| CN108500966A (en) * | 2018-03-30 | 2018-09-07 | 阜阳师范学院 | A kind of novel radio mechanical arm and control method |
| CN108582152A (en) * | 2018-05-14 | 2018-09-28 | 电子科技大学 | A kind of articulation mechanism with the rotation of Three Degree Of Freedom adjustable point |
| CN109262610A (en) * | 2018-08-30 | 2019-01-25 | 珠海格力电器股份有限公司 | Method and system for solving tail end pose of serial multi-degree-of-freedom robot and robot |
Non-Patent Citations (2)
| Title |
|---|
| 移动机械臂的运动控制与轨迹规划算法研究;郑秀娟;《中国优秀硕士学位论文全文数据库 信息科技辑》;20130228;正文第42-57页 * |
| 郑秀娟.移动机械臂的运动控制与轨迹规划算法研究.《中国优秀硕士学位论文全文数据库 信息科技辑》.2013,正文第42-57页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110877337A (en) | 2020-03-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110877337B (en) | A three-link manipulator intelligent control method, chip and system | |
| CN109176494B (en) | Self-calibration method and system for rope-driven multi-joint flexible robot and storage medium | |
| CN107589934B (en) | Solving method for inverse kinematics analytic solution of joint type mechanical arm | |
| CN113400088B (en) | Modeling and identification method of position-independent geometric error of AC double-turntable five-axis machine tool | |
| CN107214692A (en) | The automatic calibration method of robot system | |
| CN103481288B (en) | A kind of 5 articulated robot end-of-arm tooling posture control methods | |
| CN104608129B (en) | Robot Calibration Method Based on Plane Constraints | |
| CN108621162A (en) | A kind of manipulator motion planning method | |
| CN103063213B (en) | The scaling method of a kind of welding robot and positioner position orientation relation | |
| JP6815924B2 (en) | Calibration device | |
| CN107443382A (en) | Industrial robot structure parameter error recognizes and compensation method | |
| CN104635762B (en) | A kind of autokinesis angle computational methods towards SRS copy man arms | |
| CN103692433B (en) | Model decoupling three-arm-lever five-freedom-degree translation welding robot and decoupling method thereof | |
| CN103901898B (en) | A kind of inverse kinematics general method for solving of multi-freedom robot | |
| CN105773609A (en) | Robot kinematics calibration method based on vision measurement and distance error model | |
| CN105180962B (en) | A kind of cooperating robot's basis coordinates system scaling method based on the spot projection of space two | |
| CN105856231B (en) | A kind of motion control method of particular configuration six-shaft industrial robot | |
| CN109176487A (en) | A kind of cooperating joint section scaling method, system, equipment, storage medium | |
| CN106041932B (en) | A kind of motion control method of UR robots | |
| CN108290257A (en) | Robot system and control method | |
| JP2015085427A (en) | Each axis angle determination method for 6-axis robot and controller for 6-axis robot | |
| CN109648563B (en) | Serial robot motion control method and computer storage medium | |
| CN107234629B (en) | A multi-axis robot | |
| CN104827481B (en) | SCARA manipulator control method based on motion controller | |
| CN103529856B (en) | 5 rotary joint robot end instrument posture control methods |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201124 Termination date: 20211129 |