Inverse kinematics solution method and device for multi-joint mechanical arm

• Main Authors: ZHANG ZHIYUAN, QI WEIWEI, QIANG LIGANG, JIANG TONGWEI, XIAO TAOKANG, WANG KENAN, YANG YIGUANG, WANG BANGMENG, REN HONGXI, SONG DING'AN
• Format: Patent
• Language: Chinese; English
• Published: 27.10.2023
• Subjects: CALCULATING; CHAMBERS PROVIDED WITH MANIPULATION DEVICES; COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS; COMPUTING; COUNTING; ELECTRIC DIGITAL DATA PROCESSING; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention provides a kinematics inverse solution solving method and device for a multi-joint mechanical arm, and the method comprises the steps: based on the structure of a Tokamak circulator and the structure of the multi-joint mechanical arm, through the position of a target point, the shape and size of the inner wall of the Tokamak circulator, and the solving position of the central point of a tenth joint, obtaining the kinematics inverse solution of the multi-joint mechanical arm; and the solving position of the center point of the ninth joint is determined, a solving optimization target and solving constraint conditions are further determined, and the solving positions of the center points of the remaining joints of the multi-joint mechanical arm are determined through an optimal solution algorithm. Therefore, compared with the prior art, the solution method provided by the invention not only can realize rapid solution, but also can ensure the reliability of the solution result. 本发明提供了一种多关节机械臂的运动学逆解求