Title:
METHOD AND APPARATUS FOR USE IN DETERMINING INVERSE SOLUTION FOR ROBOTS IN SERIES CONNECTION
Document Type and Number:
WIPO Patent Application WO/2018/129705
Kind Code:
A1
Abstract:
A method and an apparatus for use in determining an inverse solution for robots in series connection. The method comprises: acquiring a target coordinate of a terminal joint of a robot in series connection, wherein at least one front end joint is connected in series above the terminal joint (110); randomly generating a plurality of random joint variable sets, wherein each random joint variable set comprises therein a joint variable which corresponds to each front end joint (120) respectively; calculating random coordinates of the terminal joint according to each random joint variable set (130); selecting an approximate coordinate of the terminal joint from the random coordinates according to the target coordinate (140); and determining an inverse solution of the target coordinate according to a random joint variable set which corresponds to the approximate coordinate (150); the approximate coordinate is a random coordinate wherein an error of the random coordinate and the target coordinate is within an error threshold.
Inventors:
REN LINGXUE (CN)
WANG LEI (CN)
XIONG JING (CN)
WANG LEI (CN)
XIONG JING (CN)
Application Number:
PCT/CN2017/071083
Publication Date:
July 19, 2018
Filing Date:
January 13, 2017
Export Citation:
Assignee:
SHENZHEN INST OF ADV TECH CAS (CN)
International Classes:
G05B13/02
Foreign References:
| CN105904462A | 2016-08-31 | |||
| CN105404174A | 2016-03-16 | |||
| EP1250986A2 | 2002-10-23 | |||
| US20110224958A1 | 2011-09-15 |
Attorney, Agent or Firm:
BEYOND ATTORNEYS AT LAW (CN)
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