AXIS-INVARIANT-BASED MODELING AND CONTROL METHOD FOR MULTI-AXIS ROBOT SYSTEM

摘要

An axis-invariant-based modeling and control method for a multi-axis system. The system completely solves the problems of iterative modeling, real-time solving and control of multi-axis system engineering from various levels, including system topology, forward kinematics, inverse kinematics and dynamics, and realizes fully parameterized modeling and control involving "topology, a coordinate system, polarity, structural parameters, mass and inertia, etc.", and circuits and codes can be configured to be directly or indirectly executed inside a multi-axis robot system partially or totally. In addition, an analysis and verification system constructed on the basis of these principles is also comprised and is used for designing and verifying a multi-axis robot system.