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MECHANICAL ARM INVERSE KINEMATICS SOLUTION ERROR DETERMINATION AND CORRECTION METHOD AND DEVICE
MECHANICAL ARM INVERSE KINEMATICS SOLUTION ERROR DETERMINATION AND CORRECTION METHOD AND DEVICE
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机译：机械臂逆运动学解决方案误差确定与修正方法及装置
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摘要
A mechanical arm inverse kinematics solution error determination and correction method and device. Prior to operation an error model is established, during operation a current error is determined via error solution, and corresponding data correction is performed by using the error model, solving the technical problem that conventional methods cannot determine inverse kinematics solution errors in real time and in-process, and cannot achieve timely correction of data errors. The method comprises: performing error solution on an inverse kinematic solution under test to obtain an error solution result, and establishing an error model according to the error solution result (S11); obtaining motion target data of a target object (S12); performing, according to the motion target data and by using the inverse kinematic solution under test, inverse kinematics calculations to obtain data of joint variables (S13); performing an error solution according to the joint variables data to determine a current error of the inverse kinematic solution under test (S14); and correcting, according to the current error, the joint variables data by using the error model (S15).
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