The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 16, 2020
Filed:
Feb. 09, 2018
Foshan Huashu Robotics Co.,ltd., Foshan, CN;
Foshan Institute of Intelligent Equipment Technology, Foshan, CN;
Xing Zhou, Foshan, CN;
Tongshu Chen, Foshan, CN;
Shifeng Huang, Foshan, CN;
Simin Chen, Foshan, CN;
Lin Yang, Foshan, CN;
Xugao Deng, Foshan, CN;
Haibin Yang, Foshan, CN;
Qun Wang, Foshan, CN;
Foshan Huashu Robotics Co., Ltd., Foshan, CN;
Foshan Institute of Intelligent Equipment Technology, Foshan, CN;
Abstract
Disclosed is a method for obtaining the inverse kinematics of a six-degree-of-freedom serial robot with an offset wrist. The method uses the analytical solution of the inverse kinematics of the six-degree-of-freedom serial robot with a non-offset wrist as an approximate solution of the inverse kinematics of the six-degree-of-freedom serial robot with an offset wrist and an initial point for iteration, and obtains a numerical solution of the inverse kinematics of the six-degree-of-freedom serial robot with an offset wrist meeting the accuracy through continuously iterative approaching. The present disclosure has faster convergence and less calculation amount relative to the traditional calculation method, reduces the computation burden for a robot controller, and improves the real-time performance.