Title:
MODELING METHOD FOR 1R/2R/3R INVERSE SOLUTIONS ON BASIS OF AXIS INVARIANTS AND DH PARAMETERS
Document Type and Number:
WIPO Patent Application WO/2020/034418
Kind Code:
A1
Abstract:
A modeling and solving method for 1R/2R/3R robot inverse kinematic solutions on the basis of axis invariants and D-H parameters. Said method uses a natural coordinate system as the basis, solves an axis invariant-based 1R inverse kinematics solution, and axis invariant and DH parameters-based 2R and 3R inverse kinematics solutions, and verifies the correctness of the method by means of a CE3 inspector engineering application. The method has a simple chain symbol system and a representation of the axis invariants, has the function of pseudo codes, and the physical meaning is accurate, thus ensuring the reliability of the engineering implementation. On the basis of the structural parameters of the axis invariants, it is not necessary to establish an intermediate coordinate system, thereby avoiding measurement errors caused by the introduction of the intermediate coordinate system, and ensuring the accuracy of the inverse kinematics solution. At the same time, due to the parameterization of the coordinate system, polarity, and structural parameters, the versatility of engineering applications is ensured.
Inventors:
JU HEHUA (CN)
SHI BAOQIAN (CN)
SHI BAOQIAN (CN)
Application Number:
PCT/CN2018/112768
Publication Date:
February 20, 2020
Filing Date:
October 30, 2018
Export Citation:
Assignee:
JU HEHUA (CN)
International Classes:
B25J9/16
Domestic Patent References:
| WO2018092236A1 | 2018-05-24 |
Foreign References:
| CN106041932A | 2016-10-26 | |||
| CN105975795A | 2016-09-28 | |||
| CN105522577A | 2016-04-27 | |||
| CN108255058A | 2018-07-06 |
Attorney, Agent or Firm:
JIANGSU FD YONGHENG LAW FIRM (CN)
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