Title:
AXIS-INVARIANT-BASED MODELING AND CONTROL METHOD FOR MULTI-AXIS ROBOT SYSTEM
Document Type and Number:
WIPO Patent Application WO/2020/034421
Kind Code:
A1
Abstract:
An axis-invariant-based modeling and control method for a multi-axis system. The system completely solves the problems of iterative modeling, real-time solving and control of multi-axis system engineering from various levels, including system topology, forward kinematics, inverse kinematics and dynamics, and realizes fully parameterized modeling and control involving "topology, a coordinate system, polarity, structural parameters, mass and inertia, etc.", and circuits and codes can be configured to be directly or indirectly executed inside a multi-axis robot system partially or totally. In addition, an analysis and verification system constructed on the basis of these principles is also comprised and is used for designing and verifying a multi-axis robot system.
Inventors:
JU HEHUA (CN)
Application Number:
PCT/CN2018/112813
Publication Date:
February 20, 2020
Filing Date:
October 30, 2018
Export Citation:
Assignee:
JU HEHUA (CN)
International Classes:
B25J9/16
Foreign References:
| CN103116318A | 2013-05-22 | |||
| CN103955619A | 2014-07-30 | |||
| CN104690722A | 2015-06-10 | |||
| CN105807712A | 2016-07-27 | |||
| US20070255454A1 | 2007-11-01 |
Other References:
SUN FEI ET AL.: "The development of a 12 DOF biped robot and gait planning research", MACHINERY & ELECTRONICS, 30 September 2011 (2011-09-30), ISSN: 1001-2257
Attorney, Agent or Firm:
JIANGSU FD YONGHENG LAW FIRM et al. (CN)
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