Inverse kinematics solving method and system for four-degree-of-freedom series robot

• Main Authors: TANG XIAOFENG, HAN RUI, YIN XIANG, ZHANG YUXIN, TANG RIJIA, FAN WENJING, ZENG YUANFAN, LI JIABAO
• Format: Patent
• Language: Chinese; English
• Published: 19.10.2021
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention provides an inverse kinematics solving method and system for a four-degree-of-freedom series robot. The inverse kinematics solving method comprises the steps of establishing the coordinate system of each connecting rod, solving a kinematics positive solution of the robot, solving the rotation angle/displacement of each joint of the robot according to the tail end pose of the robot, giving an alarm for a joint over-travel error, and carrying out travel constraint on each joint of the robot. According to the method, the inverse solution of the robot can be determined based on the fact that the configuration of the robot is unique, the reachability of the targeted pose is judged, the corresponding inverse solution can be solved according to the expected configuration of the robot, the inverse solution is controllable under the condition of multiple solutions, and path planning and obstacle avoidance are facilitated. 本发明提供了一种四自由度串联机器人逆运动学求解方法和系统，包括建立各连杆坐标系、求机器人的运动学正解、根据机器人末端位姿求解机器人各关节转角/位移，对关节超程错误进行