Title:
AXIS-INVARIANT-BASED INVERSE KINEMATICS MODELING AND SOLVING METHOD FOR MULTI-AXIS ROBOT
Document Type and Number:
WIPO Patent Application WO/2020/034420
Kind Code:
A1
Abstract:
An axis-invariant-based inverse kinematics modeling and solving method for a multi-axis robot. The method is used for controlling a multi-axis robot device. A multi-axis robot system includes a link sequence and a joint sequence. The method comprises: using an axis sequence to correspondingly describe the multi-axis robot system, and using an axis invariant corresponding to an axis in the axis sequence and an axis chain to compute control parameters of the multi-axis robot system; and the multi-axis robot system constructing isomorphic systems in a one-to-one mapping relationship with axes by means of an axis primitive on a topology and an axis invariant primitive on metrics, and using the computed control parameters to control the multi-axis robot system.
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Inventors:
JU HEHUA (CN)
Application Number:
PCT/CN2018/112809
Publication Date:
February 20, 2020
Filing Date:
October 30, 2018
Export Citation:
Assignee:
JU HEHUA (CN)
International Classes:
B25J9/16; G05D3/00
Foreign References:
| CN103901898A | 2014-07-02 | |||
| CN102243620A | 2011-11-16 | |||
| CN107336231A | 2017-11-10 | |||
| US20170291270A1 | 2017-10-12 |
Other References:
See also references of EP 3838501A4
Attorney, Agent or Firm:
JIANGSU FD YONGHENG LAW FIRM (CN)
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