http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-114117683-A
Outgoing Links
| Predicate | Object |
|---|---|
| assignee | http://rdf.ncbi.nlm.nih.gov/pubchem/patentassignee/MD5_d5155d99b52130f89e3c927ceda7fee3 |
| classificationCPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G06F17-16 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G06F30-17 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G06F30-20 |
| classificationIPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/G06F17-16 http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/G06F30-20 http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/G06F30-17 |
| filingDate | 2021-11-29-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| inventor | http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_8a32cf161874305ba5bf4acdc40fdd0f http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_ab1c9d03ae8dc74852386c72a1babc37 http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_b15437f2c4c3d9082c9a7f91305492a1 http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_865023beb5d8543bd02be159d7b4d8fe http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_5cb4a256d818986049f5ad71053ad862 http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_06e731f10aba5a874a2c892123d558c1 |
| publicationDate | 2022-03-01-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationNumber | CN-114117683-A |
| titleOfInvention | Forward kinematics modeling method for serial mechanical arm based on improved D-H method |
| abstract | The invention discloses a forward kinematics modeling method of a serial mechanical arm based on an improved D-H method, which comprises the steps of establishing a connecting rod coordinate system { i } of the serial mechanical arm; analyzing the D-H parameters of the serial mechanical arm, and searching the condition that the D-H parameters cannot completely describe the relative position of a mechanical arm connecting rod coordinate system; inserting a virtual D-H coordinate system, wherein the direction of the Z axis of the virtual D-H coordinate system is selected randomly; analyzing the parameters of the serial mechanical arm connecting rod containing the virtual D-H coordinate system by using a D-H method, and substituting the parameters into a transformation general formula of the mechanical arm connecting rod coordinate system { i } relative to the mechanical arm connecting rod coordinate system { i-1} In the method, a sitting transformation matrix of two adjacent connecting rods of each joint of a serial mechanical arm is established A description of the coordinate system n of the links at the end of the serial robot arm relative to the coordinate system 0 of the base, i.e., the forward kinematics equation for the serial robot arm, is established. The method can be used for arbitrarily adding a virtual D-H coordinate system, simplifies the mapping process, has high repeatability of the calculation process and is convenient for programming operation; the method is suitable for forward kinematics modeling of serial mechanical arms with any configurations. |
| priorityDate | 2021-11-29-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| type | http://data.epo.org/linked-data/def/patent/Publication |
Incoming Links
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|---|---|
| isDiscussedBy | http://rdf.ncbi.nlm.nih.gov/pubchem/substance/SID422707724 http://rdf.ncbi.nlm.nih.gov/pubchem/protein/ACCP27058 http://rdf.ncbi.nlm.nih.gov/pubchem/compound/CID25078152 |
Total number of triples: 23.