摘要
根据6自由度机械臂正交解耦的结构特点,采用位姿分解方式,将6自由度逆运动学降为3自由度位置逆运动学、3自由度方向逆运动学;利用欧几里德范数导出机械臂定位、定向的逆运动学解析解,使机械臂高速、准确运动。在定向控制方面,提出一种以单位四元数为目标输入的控制形式,只需计算两个角度逆解,既简化计算,又利于实际操作;利用逆运动学计算机械臂的工作空间和奇异点空间,借助移动机器人车体自由度弥补因计算以及关节长度不够引起的奇异位形,极大扩展了机械手臂的有效运动区域。
This paper describes an approach of inverse kinematical control for 6 DOF orthogonal and decoupled manipulator. Based on the structure characteristic of this kind of manipulators, the kinematical model is simplified to a 3 DOF orientation calculation and 3 DOF pos- ture calculation. This two part of kinematical calculation are independent. The position and attitude determination problem of this manipula- tor is solved based on Euclid norm. At the same time, this paper took quaternion as the control input to solve the attitude determination prob- lem. These methods can simplify the computation, achieve the real time and accuracy requirements, and also easy to implement. By analyzing the singularity of the motion region of the manipulation, a new method to expand the motion region is proposed by using extra DOF from rover.
出处
《计算机测量与控制》
CSCD
北大核心
2010年第7期1637-1640,1644,共5页
Computer Measurement &Control
基金
国家863高科技资助项目(2008AA0085)
关键词
六自由度机械臂
逆运动学
解析解
高精度
6--DOF manipulator
inverse kinematic control
analytical solution
high--accurate
