| 模块化六自由度机械臂逆运动学解算与验证 |
| |
| 引用本文： | 李宪华,郭永存,张军,郭帅.模块化六自由度机械臂逆运动学解算与验证[J].农业机械学报,2013,44(4):246-251. |
| |
| 作者姓名： | 李宪华 郭永存 张军 郭帅 |
| |
| 作者单位： | 1. 安徽理工大学机械工程学院,淮南,232001
2. 上海大学CIMS&机器人中心,上海,200444 |
| |
| 基金项目： | 国家高技术研究发展计划（863计划）资助项目（2007AA041604）和安徽省博士后基金资助项目(DG081) |
| |
| 摘 要： | 针对六自由度模块化串联机械臂,进行了正运动学求解,并提出了该种臂型的运动学逆解计算方法.从机械臂的结构特点出发,采用DH法进行结构建模,得到了正运动学模型.在逆运动学求解过程中,针对纯代数法找不到该种臂型的独立不相关变量方程的问题,采用几何方法求解机械臂前3个关节、后3个关节使用反变换法求解,通过给出解的组合原则,得到了该机械臂逆运动学的完整解析解.为满足机器人系统编程和实际控制需要,基于VC++编制了MFC的运动学算法程序,验证了正逆运动学求解的正确性,为机械臂精确定位和运动规划提供了必要的前提条件.
|
| 关 键 词： | 模块化机械臂 正逆运动学 组合原则 逆解树 |
Inverse Kinematics Solution and Verification of Modular 6-DOF Manipulator |
| |
| Li Xianhu,Guo Yongcun,Zhang Jun and Guo Shuai.Inverse Kinematics Solution and Verification of Modular 6-DOF Manipulator[J].Transactions of the Chinese Society of Agricultural Machinery,2013,44(4):246-251. |
| |
| Authors: | Li Xianhu Guo Yongcun Zhang Jun and Guo Shuai |
| |
| Institution: | Anhui University of Science and Technology;Anhui University of Science and Technology;Anhui University of Science and Technology;Shanghai University |
| |
| Abstract: | Aimed at 6-DOF modular serial manipulator, forward kinematics was established and an inverse kinematics calculation method was proposed. To the structural characteristics of the manipulator, a forward kinematics model was conducted by using the DH method to describe the workspace. In the process of solving inverse kinematics, because the independent irrelevant variable equation can not be found by the pure algebra method, the geometry method was employed to solving the inverse kinematics of the first three joints, and the last three joints were solved by using algebra method. The complete analytical solution of the inverse kinematics was acquired by giving the combination principle of solutions. In order to meet the need of programming and actual control of robot system, the correctness of forward and inverse kinematics was validated by software developed based on MFC of VC++. |
| |
| Keywords: | |
| 本文献已被 万方数据 等数据库收录！ |
| 点击此处可从《农业机械学报》浏览原始摘要信息 |
| 点击此处可从《农业机械学报》下载免费的PDF全文 |
|
