Method for inverse solution of redundant robot with moving pair and joint offset
For the smart agricultural picking robot,the conventional six-degree-of-freedom collaborative robot with wrist offset has difficulty in handling the operating space of vine plants with large height.In this article,in response to this problem,a mobile joint is added at the bottom of the robot's base,so as to constitute a redundant degree-of-freedom robot,and the positive kinemat-ic model is set up with the help of the improved Denavit-Hartenberg(D-H)method.In terms of inverse kinematics,an inverse-solution algorithm is proposed for the redundant robot with mobile pair and joint offset.The Monte Carlo method is used to analyze the robot's approximate workspace;in combination with the geometric projection method,the limit intervals and initial values of the redundant parameters are solved;the mapping relationship between the robot's end position and its joint variables is identified by means of the algebraic method and the optimized redundant parameters.In order to verify whether this inverse-solution algo-rithm is effective,efforts are made to design the simulation experiments of discrete points'error and continuous trajectory tracking in the Cartesian space.The results show that thanks to this inverse-solution algorithm,the error in the discrete points'absolute position does not exceed 7x10-13 mm,and the motion parameters in trajectory tracking are smooth and continuous,thus meeting the practical requirements.This study provides reference for those situations where additional moving axes are applied.
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