AXIS-INVARIANT BASED INVERSE SOLUTION MODELING AND SOLVING METHOD FOR UNIVERSAL 7R ROBOTIC ARM

摘要

An axis-invariant based inverse solution modeling and solving method for a universal 7R robotic arm. The method comprises: assuming that 7 rotary shafts are provided, wherein an acquisition point is located on the 7th axis, and a robotic arm of which the 5th axis and the 6th axis are not coaxial is a universal 7R robotic arm; the universal 7R robotic arm controlling, via the first 6 axes, the 7th axis to align with an expected position and orientation, so as to enable the 7th axis to rotate infinitely or to control the 7th axis to achieve radial alignment; and using a Ju-Gibbs quaternion expression to represent a 7R robotic arm kinematic equation, wherein a point on the 6th axis at a certain distance from the acquisition point is a nominal acquisition point. An inverse solution of a universal 6R robotic arm is calculated before a numerical iteration method is then used to complete motion planning and inverse solution calculation of the universal 7R robotic arm, thereby resolving the issue of the prior art in which an inverse solution of a 7R robotic arm cannot be calculated.